In-vehicle electronic control apparatus having monitoring control circuit

• US 8,234,035 B2
• Filed: 05/09/2008
• Issued: 07/31/2012
• Est. Priority Date: 11/26/2007
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Iwagami, Yuki, Yamashita, Manabu, Hashimoto, Koji
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): GREENE, DANIEL LAWSON
• Application Number:
  US12/118,279
• Publication Number:
  US 20090138137A1
• Time in Patent Office: 1,544 Days
• Field of Search: 701/1, 701/36, 701/105, 701/29.1, 701/29.2, 701/29.7, 701/29.8, 701/28.9, 701/30.5, 701/30.8, 701/30.9, 701/31.1, 701/31.2, 701/31.7
• US Class Current: 701/30.5
• CPC Class Codes: G05B 9/02 electric
• CPC Class Codes: G06F 11/0739 in a data processing system embedded in automotive or aircraft systems
• CPC Class Codes: G06F 11/0751 Error or fault detection not based on redundancy power supply failures G06F1/30; network fault management H04L41/06

Abstract

An in-vehicle electronic control apparatus includes a monitoring control circuit configured such that a monitoring control circuit unit transmits question information; a main control circuit unit transmits answer information generated by a microprocessor; the monitoring control circuit unit applies an addition and subtraction correction to a value of a first present-value memory in response to a result of a comparison between correct-solution information stored in a data memory and the answer information; and when the accumulated present value exceeds an abnormality determination threshold value, the monitoring control circuit unit generates a first abnormality detection signal so as to initialize and restart the microprocessor, and variably sets the abnormality determination threshold value or an abnormality determination time, based on selectively applied setting constants generated with pattern switches.

Claims

1. An in-vehicle electronic control apparatus, having a monitoring control circuit, the in-vehicle electronic control apparatus comprising:

a main control circuit unit including;

a nonvolatile program memory;

a random access memory (RAM) for calculation processing;

a first input interface circuit to which a first input sensor group is connected;

a first output interface circuit to which a first electric load group is connected; and

a microprocessor that controls the first electric load group, in response to contents of a control program stored in the nonvolatile program memory and an operation status of the first input sensor group, and

a monitoring control circuit unit including;

a question information generation unit that is connected through a serial communication circuit to the microprocessor and selectively transmits a plurality of question information items to the main control circuit unit in a periodical and sequential manner;

a correct-information storage memory that stores correct information items for the question information items; and

an abnormality determination unit that compares answer information, based on the question information, from the main control circuit unit with the correct information stored in the correct-information storage memory so as to determine whether or not an abnormality exists in the main control circuit unit, the monitoring control circuit unit being further provided with a first addition and subtraction tallying unit, a first abnormality-occurrence determination unit, and a first determination-numerical-value selection unit,

wherein, under the condition that no communication abnormality is detected in downlink communication information that is transmitted through downlink communication from the main control circuit unit to the monitoring control circuit unit,

in the case where the abnormality determination unit makes a determination of abnormality that the answer information and the correct-solution information do not coincide with each other, the first addition and subtraction tallying unit applies a correction to a first present-value memory in such a way that a fourth variation value Δ

4 is added to or subtracted from the first present-value memory,

in the case where the abnormality determination unit makes a determination of normality that the answer information and the correct-solution information coincide with each other, the first addition and subtraction tallying unit applies a correction to the first present-value memory in such a way that a first variation value Δ

1 that is a value smaller than the fourth variation value Δ

4 is subtracted from or added to the first present-value memory, and

in the case where the determination of no abnormality continues, the correction with the first variation value Δ

l is halted when a predetermined normal-side limit value is reached,

wherein, when, due to the accumulation of the first and fourth variation values, a present value of the first addition and subtraction tallying unit reaches an abnormal-side limit value, the first abnormality-occurrence determination unit generates a first abnormality detection signal, and a difference between the abnormal-side limit value and the normal-side limit value becomes equal to an abnormality determination threshold value Nj,

wherein, with regard to a first setting constant group (Δ

1, Δ

4, Nj or/and Te) including the first variation value Δ

1 and the fourth variation value Δ

4 and at least an abnormality determination threshold value Nj or a continuous abnormality detection time Te, the first determination-numerical-value selection unit selectively utilizes one out of a plurality of setting constant groups that are different from one another in the value of at least the abnormality determination threshold value Nj or the continuous abnormality detection time Te,

wherein the continuous abnormality detection time Te is a time during which the value of the first present-value memory changes from the normal-side limit value to the abnormal-side limit value, in the case where the contents of all the answer information items for the question information items that sequentially occur in a question update cycle Tq are different from those of the correct-solution information items,

wherein the multiplication product of the number of occurrences of continuous abnormality obtained by dividing the abnormality determination threshold value Nj by the fourth variation value Δ

4 and the question update cycle Tq is set in relationship to the continuous abnormality detection time Te in such a way as to be a value the same as or smaller than the continuous abnormality detection time Te,

wherein respective different values are applied to some of the setting constants in the first setting constant group, in accordance with a kind of a vehicle to which the in-vehicle electronic control apparatus is applied, and

wherein the occurrence time of the first abnormality detection signal that is generated when the determination of abnormality continues is variably set, based on the selectively applied setting constants.

2. The in-vehicle electronic control apparatus according to claim 1,

wherein the question information is a control program corresponding to part of calculation commands incorporated in the nonvolatile program memory or an alternative program in which at least part of the calculation commands are incorporated,

the question information designates a copy program, stored in a different region of the same nonvolatile program memory, as a program to be tested, and designates a number of an input constant table corresponding to input data utilized in the program to be tested, and actual numerical values in the input constant table are stored in the nonvolatile program memory,

wherein the main control circuit unit is provided with an answer-information generation unit, and

wherein the answer-information generation unit generates answer information, based on the program to be tested and on input constants designated by the question information, and transmits the answer information to the monitoring control circuit unit.

3. The in-vehicle electronic control apparatus according to claim 1,

wherein the monitoring control circuit unit is provided with a first initialization unit which initializes and restarts the microprocessor in response to generation of the first abnormality detection signal, and sets the value of the first present-value memory to an initial setting value Nsj,

wherein the first setting constant group incorporates the initial setting value Nsj which is a value close to the abnormality determination threshold value Nj, and

wherein a number of initializations and restarts of the microprocessor is counted by an output inhibition counter, and when a present counting value of the output inhibition counter reaches a predetermined threshold value, a drive mode moves to a power-saving drive mode in which drive of a certain electric load is halted, and when a power switch is once turned off and then turned on again, the present counting value of the output inhibition counter is reset.

4. The in-vehicle electronic control apparatus according to claim 1,

wherein an average value of a ratio Nj/Δ

4 of the abnormality determination threshold value Nj to the fourth variation value Δ

4, in the first setting constant group, is approximately equal to an average value of a ratio Δ

4/Δ

1 of the fourth variation value Δ

4 to the first variation value Δ

1, and at least the average value of the ratio Δ

4/Δ

1 falls between a minimal and a maximal value of the ratio Nj/Δ

4.

5. The in-vehicle electronic control apparatus according to claim 1,

wherein the monitoring control circuit unit is provided with a code error detection unit, a second addition and subtraction tallying unit, a second abnormality-occurrence determination unit, and a second determination-numerical-value selection unit,

wherein the code error detection unit determines whether an intrusion of bit information or a loss of bit information exists in the reception data of the downlink communication information that is transmitted from the main control circuit unit to the monitoring control circuit unit, by use of a code check unit adapted to perform at least one of a sum check or a cyclic redundancy check (CRC),

wherein in the case where the code error detection unit determines that an abnormality exists in the downlink communication the second addition and subtraction tallying unit applies a correction to the second present-value memory in such a way that a second variation value Δ

2 is added to or subtracted from the second present-value memory,

in the case where the code error detection unit determines that no abnormality exists in the downlink communication, the second addition and subtraction tallying unit applies a correction to the second present-value memory in such a way that a first variation value Δ

1 is subtracted from or added to the second present-value memory, and

in the case where the determination of no abnormality continues, the correction with the first variation value Δ

1 is halted when a predetermined normal-side limit value is reached,

wherein, when, due to the accumulation of the first and second variation values, a present value of the second addition and subtraction tallying unit reaches an abnormal-side limit value, the second abnormality-occurrence determination unit generates a second abnormality detection signal, and a difference between the abnormal-side limit value and the normal-side limit value becomes equal to an abnormality determination threshold value Nk,

wherein, with regard to a second setting constant group (Δ

1, Δ

2, Nk or/and Te) including the first variation value Δ

1 and the second variation value Δ

2 and at least an abnormality determination threshold value Nk or the continuous abnormality detection time Te, the second determination-numerical-value selection unit selectively utilizes one out of a plurality of setting constant groups that are different from one another in the value of at least the abnormality determination threshold value Nk or the continuous abnormality detection time Te,

wherein the continuous abnormality detection time Te is a time during which the value of the second present-value memory changes from the normal-side limit value to the abnormal-side limit value, when a condition continues in which a communication error rate of downlink-communication information that is sequentially generated in a communication cycle Tc is the same or larger than a predetermined value,

wherein the abnormality determination threshold value Nk is set in relationship to the continuous abnormality detection time Te in such a way that a multiplication product of a number of communication instances, calculated in relation to the first and second variation values Δ

1 and Δ

2 and the communication error rate, and the communication cycle Tc becomes the same as or smaller than the continuous abnormality detection time Te,

wherein respective different values are applied to some of the setting constants in the second setting constant group, in accordance with a kind of a vehicle to which the in-vehicle electronic control apparatus is applied, and

wherein the occurrence time of the second abnormality detection signal that is generated when a predetermined communication error rate continues is variably set based on the selectively applied setting constants.

6. The in-vehicle electronic control apparatus according to claim 5,

wherein the monitoring control circuit unit performs communication with regard to input and output signals, of a second input sensor group and a second electric load group, which are part of input and output signals for the microprocessor, through the serial communication circuit,

wherein downlink communication information that is transmitted from the main control circuit unit to the monitoring control circuit unit includes a setting constant or a control output that is required in the monitoring control circuit unit, answer information for the question information obtained from immediately previous uplink communication information that has been transmitted through uplink communication from the monitoring control circuit unit to the main control circuit unit, a second flag information, and code check information,

wherein the uplink communication information includes input signal information for the monitoring control circuit unit or the storage information for the setting constant or the control output obtained from the main control circuit unit, the present question information, a first flag information, and code check information,

wherein the first flag information changes at the timing when the contents of the question information is updated in the monitoring control circuit unit, and serves as a single-bit or multi-bit recognition signal that reports the change in the question information, and

wherein the second flag information changes at the timing when the main control circuit unit updates the contents of the answer information, in response to an update of the contents of the question information, and serves as a single-bit or multi-bit recognition signal that reports the update of the answer information.

7. The in-vehicle electronic control apparatus according to claim 6,

wherein the monitoring control circuit unit is further provided with a question information updating unit and a response delay determination unit,

wherein the question information updating unit recurrently transmits question information included in the uplink communication information in such a way that the question information is the same in a plurality of communication instances and after transmitting of the question information for a predetermined duration, updates the question information,

wherein the response delay determination unit determines that an abnormality exists in the main control circuit unit, when the time between when the monitoring control circuit unit changes the contents of the first flag information and when the reception data of the second flag information changes exceeds a predetermined time, and

wherein the first addition and subtraction unit performs an addition and subtraction correction utilizing a fifth variation value Δ

5 that is a value larger than the fourth variation value Δ

4, when the response delay determination unit makes a determination of abnormality.

8. The in-vehicle electronic control apparatus according to claim 5,

wherein the monitoring control circuit unit is further provided with a second initialization unit that initializes and restarts the microprocessor in response to generation of the second abnormality detection signal, and sets the values of the first and second present-value memories to predetermined initial setting values Nsj and N0, respectively,

wherein the second setting constant group further incorporates the initial setting value N0 for the second present-value memory, and the initial setting value N0 is close to the normal-side limit value in the second addition and subtraction tallying unit, and

wherein a number of initializations and restarts of the microprocessor is counted by an output inhibition counter, and when a present counting value of the output inhibition counter reaches a predetermined threshold value, a drive mode moves to a limp home drive mode in which drive of a certain electric load is halted, and when a power switch is once turned off and then turned on again, the present value of the output inhibition counter is reset.

9. The in-vehicle electronic control apparatus according to claim 1,

wherein the nonvolatile program memory is further provided with a control program corresponding to an erroneous-answer-information generation unit, a present-value information monitoring unit, a third addition and subtraction tallying unit, a third abnormality-occurrence determination unit, and a third determination-numerical-value selection unit,

wherein uplink communication information includes present-value information that is a value of the first present-value memory in the monitoring control circuit unit,

wherein the erroneous-answer-information generation unit intentionally transmits erroneous-solution information, as answer information for the question information, and the intentional transmission of an erroneous answer is performed by the erroneous-answer-information generation unit at the timing when there exist some margins for the tallied value in the abnormality monitoring by the first addition and subtraction tallying unit and the first abnormality-occurrence determination unit is not caused to generate the first abnormality detection signal by only a onetime erroneous answer,

wherein, by monitoring present-value uplink communication information, the present-value information monitoring unit counter-monitors through the main control circuit unit whether the monitoring control circuit unit normally operates, and determines whether or not an abnormality exists in the monitoring control circuit unit,

wherein, in the case where, although an erroneous answer has been transmitted, the present-value information monitoring unit cannot recognize any change in the first present-value memory, the erroneous-answer-information generation unit continues transmission of an erroneous answer,

wherein, under the condition that no communication abnormality is detected in the uplink communication information that is transmitted from the monitoring control circuit unit to the main control circuit unit, in the case where the present-value information monitoring unit determines that an abnormality exists in the monitoring control circuit unit the third addition and subtraction tallying unit applies a correction to a third present-value memory in such way that a third variation value Δ

3 is added to or subtracted from the third present-value memory

in the case where the present-value information monitoring unit determines that no abnormality exists in the monitoring control circuit unit, the third addition and subtraction tallying unit applies a correction to the third present-value memory in such way that the variation value Δ

1 that is a value smaller than the third variation value Δ

3 is subtracted from or added to the third present-value, and

in the case where a determination of no abnormality continues, the correction with the first variation value Δ

1 is halted when a predetermined normal-side limit value is reached,

wherein, when, due to the accumulation of the first and third variation values, a present value of the third addition and subtraction tallying unit reaches an abnormal-side limit value, the third abnormality-occurrence determination unit generates a third abnormality detection signal, and a difference between the abnormal-side limit value and the normal-side limit value becomes equal to an abnormality determination threshold value Ni,

wherein, with regard to a third setting constant group (Δ

1, Δ

3, Ni or/and Te) including the first variation value Δ

1 and the third variation value Δ

3, and at least an abnormality determination threshold value Ni or the continuous abnormality detection time Te, the third determination-numerical-value selection unit selectively utilizes one out of a plurality of setting constant groups that are different from one another in the value of at least the abnormality determination threshold value Ni or the continuous abnormality detection time Te,

wherein the continuous abnormality detection time Te is a time during which the value of the third present-value memory changes from the normal-side limit value to the abnormal-side limit value, in the case where all the counter-monitoring information items for erroneous-answer information items that sequentially occur in an erroneous-answer transmission cycle Tq are abnormal,

wherein a multiplication product of a number of occurrences of continuous abnormality obtained by dividing the abnormality determination threshold value Ni by the third variation value Δ

3 and the erroneous-answer transmission cycle Tq is set in relationship to the continuous abnormality detection time Te in such a way as to be a value the same as or smaller than the continuous abnormality detection time Te, and

wherein respective different values are applied to some of the setting constants in the third setting constant group, in accordance with a kind of a vehicle to which the in-vehicle electronic control apparatus is applied, and the occurrence time of the third abnormality detection signal that is generated when a determination of abnormality is made continuously is variably set based on the selectively applied setting constants.

10. The in-vehicle electronic control apparatus according to claim 9,

wherein the nonvolatile program memory is further provided with a third initialization unit which initializes and restarts the monitoring control circuit unit in response to generation of the third abnormality detection signal, and sets the value of the third present-value memory to an initial setting value Nsi,

wherein the third setting constant group further incorporates the initial setting value Nsi;

and the initial setting value Nsi is a value close to the abnormality determination threshold value Ni, and

wherein a number of initializations and restarts of the monitoring control circuit unit is counted by an output inhibition counter, and when the present counting value of the output inhibition counter reaches a predetermined threshold value, a drive mode moves to a power-saving drive mode in which drive of a certain electric load is halted, and when a power switch is once turned off and then turned on again, the present value of the output inhibition counter is reset.

11. The in-vehicle electronic control apparatus according to claim 9,

wherein the nonvolatile program memory is further provided with a control program corresponding to a code error detection unit for uplink communication information, a fourth addition and subtraction tallying unit, a fourth abnormality-occurrence determination unit, and a fourth determination-numerical-value selection unit,

wherein the code error detection unit determines whether or not an intrusion of bit information or a loss of bit information exists in the reception data of the uplink communication information that is transmitted from the monitoring control circuit unit to the main control circuit unit, by use of a code check unit adapted to perform at least one of a sum check or a cyclic redundancy check (CRC),

wherein in the case where the code error detection unit determines that an abnormality exists in uplink communication the fourth addition and subtraction tallying unit applies a correction to a fourth present-value memory in such a way that the second variation value Δ

2 is added to or subtracted from the fourth present-value memory, in the case where the code error detection unit determines that no abnormality exists in the uplink communication, the fourth addition and subtraction tallying unit applies a correction to a fourth present-value memory in such way that the variation value Δ

1 is subtracted from or added to the fourth present-value, and in the case where a determination of no abnormality continues, the correction with the first variation value Δ

l is halted when a predetermined normal-side limit value is reached,

wherein, when, due to the accumulation of the first and second variation values, a present value of the fourth addition and subtraction tallying unit reaches an abnormal-side limit value, the fourth abnormality-occurrence determination unit generates a fourth abnormality detection signal, and a difference between the abnormal-side limit value and the normal-side limit value becomes equal to the abnormality determination threshold value Nk,

wherein, with regard to a fourth setting constant group (Δ

1, Δ

2, Nk or/and Te) including the first variation value Δ

1 and second variation value Δ

2 and at least an abnormality determination threshold value Nk or the continuous abnormality detection time Te, the fourth determination-numerical-value selection unit selectively utilizes one out of a plurality of setting constant groups that are different from one another in the value of at least the abnormality determination threshold value Nk or the continuous abnormality detection time Te,

wherein the continuous abnormality detection time Te is a time during which the value of the fourth present-value memory changes from the normal-side limit value to the abnormal-side limit value, when a condition continues in which a communication error rate of uplink-communication data generated sequentially in the communication cycle Tc is the same as or larger than a predetermined value,

wherein the abnormality determination threshold value Nk is set in relationship to the continuous abnormality detection time Te in such a way that a multiplication product of a number of communication instances, calculated in relation to the first and second variation values Δ

1 and Δ

2 and the communication error rate, and the communication cycle Tc becomes the same as or smaller than the continuous abnormality detection time Te, and

wherein respective different values are applied to some of the setting constants in the fourth setting constant group, in accordance with a kind of a vehicle to which the in-vehicle electronic control apparatus is applied, and the occurrence time of the fourth abnormality detection signal that is generated when a predetermined communication error rate continues is variably set based on the selectively applied setting constants.

12. The in-vehicle electronic control apparatus according to claim 11,

wherein the nonvolatile program memory is further provided with a fourth initialization unit that initializes and restarts the monitoring control circuit unit in response to generation of the fourth abnormality detection signal, and sets the values of the third and fourth present-value memories to predetermined initial setting values Nsi and N0, respectively,

wherein the fourth setting constant group further incorporates the initial setting value N0 for the fourth present-value memory, and the initial setting value N0 is close to the normal-side limit value in the fourth addition and subtraction tallying unit, and

wherein a number of initializations and restarts of the monitoring control circuit unit is counted by an output inhibition counter, and when a present counting value of the output inhibition counter reaches a predetermined threshold value, a drive mode moves to a power-saving drive mode in which drive of a certain electric load is halted, and when a power switch is once turned off and then turned on again, the present value of the output inhibition counter is reset.