JP5163897B2 - Vehicle control system and abnormality determination device - Google Patents

Description

  The present invention relates to a vehicle control system and an abnormality determination device, and more specifically, two types of communication lines (for example, CAN communication) having different communication temperature ranges in a vehicle control system configured with an in-vehicle LAN (Local Area Network). Line and dedicated communication line), it is possible to easily determine whether there is an abnormality (for example, a disconnection) in at least the communication line with the higher communication temperature range, making troubleshooting easier The present invention relates to a vehicle control system and an abnormality determination device.

  In recent years, development of automobiles equipped with a lane keeping assist system (Lane Keeping Assist System, hereinafter abbreviated as LKA) is progressing. While the vehicle is traveling on the road, LKA recognizes the white line on the left and right with the white line recognition camera on the top of the windshield, and assists handling of EPS (Electric Power Steering) so that the vehicle travels in the center of the lane.

  When the temperature of the white line recognition camera exceeds a threshold value (hereinafter referred to as a first threshold value), the image noise increases rapidly. For this reason, when the temperature of the white line recognition camera exceeds the first threshold, a camera ECU (Electronic Control Unit) that controls the white line recognition camera stops the white line recognition operation of the white line recognition camera. The first threshold is 45 ° C., for example. Since the white line recognition camera and the camera ECU are arranged in the vicinity of the windshield in the passenger compartment, the white line recognition operation may be stopped particularly during the summertime due to high temperatures. The temperature measuring units for measuring the temperature are arranged in the vicinity of the camera ECU and the white line recognition camera. When the temperature of the camera ECU exceeds the first threshold, the camera ECU stops the white line recognition operation of the white line recognition camera.

  A camera ECU that controls a white line recognition camera and a device ECU that controls an in-vehicle device such as an electric power steering are connected by, for example, a CAN (Controller Area Network) communication line. If the temperature of the ECU performing CAN communication exceeds a threshold value (hereinafter referred to as a second threshold value), the possibility of erroneous data transmission increases. For this reason, when the temperature of the ECU performing CAN communication exceeds the second threshold, the power supply to the ECU is stopped. The second threshold is higher than the first threshold described above, and is 90 ° C., for example. Since the camera ECU is disposed in the vicinity of the windshield together with the white line recognition camera, the temperature of the camera ECU becomes high during the daytime in summer, and the power supply may be stopped. When the power supply is stopped, the camera ECU cannot perform CAN communication and cannot transmit / receive a signal to / from the apparatus ECU.

  When the temperature is not lower than the first threshold and not higher than the second threshold, the camera ECU transmits temperature information of the camera ECU to the device ECU by CAN communication. As a result, the device ECU does not have to perform erroneous failure recording (erroneous diagnosis) that the white line recognition camera and the camera ECU are stopped due to failure. On the other hand, when the temperature exceeds the second threshold, the camera ECU cannot transmit the temperature information by CAN communication, and therefore transmits the temperature information to the apparatus ECU through a dedicated communication line provided separately. As a result, the device ECU does not have to make a false failure record that the white line recognition camera and the camera ECU are stopped due to failure.

  However, when the dedicated communication line is disconnected, the following problem occurs. That is, the camera ECU cannot transmit temperature information to the device ECU through the dedicated communication line when the white line recognition is only stopped because the temperature exceeds the second threshold. Therefore, there is a possibility that the device ECU erroneously records that the white line recognition camera and the camera ECU do not operate due to a failure.

  Therefore, it is necessary to detect that the dedicated communication line is disconnected. When the CAN communication line is disconnected, when the temperature of the camera ECU is not less than the first threshold and not more than the second threshold, the camera ECU cannot transmit temperature information through the CAN communication line. In this case, since transmission through the dedicated communication line is not possible, communication between the camera ECU and the apparatus ECU is interrupted. When the dedicated communication line is disconnected, the camera ECU cannot transmit temperature information through the dedicated communication line when the temperature of the camera ECU exceeds the second threshold value. Since transmission through the communication line is not possible, communication between the camera ECU and the apparatus ECU is interrupted. Therefore, when there is a communication interruption between the camera ECU and the apparatus ECU, the apparatus ECU determines whether the communication is interrupted because the CAN communication line is disconnected or the communication is interrupted because the dedicated communication line is disconnected. Because of this, it is impossible to record effectively. Then, when the driver brings the vehicle to the repair shop, it takes a lot of time for the clerk to check which of the CAN communication line and the dedicated communication line is broken, and it is not easy to troubleshoot. there were.

Patent Document 1 discloses a technique for detecting disconnection of a fuser lamp that heats recording paper and overheating of the fuser lamp in an image forming apparatus to which an electrophotographic method is applied. However, this technique is not a technique for determining which of two types of communication lines having different communication temperature ranges is disconnected. Therefore, it cannot be applied to the technology for determining which of the CAN communication line and the dedicated communication line is disconnected.
JP 2006-58510 A

  The present invention has been made in view of such circumstances, and of two types of communication lines having different communication temperature ranges (for example, a CAN communication line and a dedicated communication line), at least a communication line having a higher communication temperature range. It is an object of the present invention to provide a vehicle control system and an abnormality determination device that can easily determine whether or not there is an abnormality (for example, disconnection) and facilitate troubleshooting.

The first invention is
A vehicle control system for recognizing a lane marking on a road surface and controlling an in-vehicle device based on the recognition information of the lane marking;
A camera control unit that controls a camera that captures the travel lane marking, processes a captured image of the camera in a temperature range equal to or lower than a first threshold, and outputs a lane marking recognition signal;
Based on the lane marking recognition signal, a device control unit that controls a predetermined in-vehicle device;
A temperature measurement unit for measuring the temperature near the camera control unit;
A first communication line that connects the camera control unit and the device control unit, and performs communication in a temperature range equal to or lower than a second threshold value that is higher than the first threshold value;
A second communication line that connects the camera control unit and the device control unit, and performs communication in a temperature range that exceeds the second threshold;
After both the communication by the first communication line and the communication by the second communication line are interrupted, the temperature measured by the temperature measuring unit immediately after the communication by the first communication line returns from the interruption is the above If it is equal to or greater than a first threshold value and equal to or less than the second threshold value, the apparatus control unit is configured to receive a signal transmitted from the camera control unit through the first communication line upon communication return of the first communication line. It is a vehicle control system provided with the high temperature determination part which turns on the provided high temperature flag.

  According to the first invention, after both the communication by the first communication line and the communication by the second communication line are interrupted, the temperature measurement unit measures the measurement immediately after the communication by the first communication line returns from the interruption. Provided in the apparatus control unit based on a signal transmitted from the camera control unit through the first communication line by the communication return of the first communication line when the temperature is not less than the first threshold value and not more than the second threshold value. The high temperature flag is turned on.

The first communication line and the second communication line communicate in different temperature ranges. If the communication between the first communication line and the second communication line is interrupted, there is a high possibility that at least one of the first communication line and the second communication line is disconnected. It can be understood that the first communication line is not disconnected by confirming that the high temperature flag is turned on. Therefore, if it is confirmed that the high temperature flag is off, it is highly possible that the second communication line is disconnected, and it can be determined that the second communication line is disconnected.
Therefore, by checking the on / off information of the high temperature flag, it can be easily determined whether or not the second communication line is disconnected.
Therefore, according to 1st invention, it is easy whether the communication line with a higher communication temperature range of the two types of communication lines (for example, CAN communication line and exclusive communication line) from which a communication temperature range differs is disconnected. This makes it easy to troubleshoot.

The second invention is
In the first invention,
When the high temperature flag is already turned on by the high temperature determination unit when the temperature measured by the temperature measurement unit exceeds the second threshold value, the camera control unit is returned by communication return of the second communication line. Is further provided with a high temperature determination clearing section for returning the high temperature flag to OFF based on a signal transmitted through the second communication line.

According to the second aspect of the invention, the communication of the second communication line is temporarily interrupted due to the second communication line being disconnected or due to poor connection between the second communication line and the camera control unit or the device control unit. However, if the second communication line is not disconnected, the high temperature flag is returned from ON to OFF by the communication return of the second communication line.
Therefore, it is possible to prevent erroneous determination that the second communication line is disconnected when the communication of the second communication line is temporarily interrupted and then the communication of the second communication line is restored. Can do.

The third invention is
In the second invention,
A storage unit for storing the on / off history of the high temperature flag is further provided.

According to the third invention, when the first communication line is not disconnected and the second communication line is disconnected, the signal is controlled through the first communication line by the communication return of the first communication line. The high temperature flag is turned on since the high temperature flag is turned on since the communication of the second communication line does not return and the signal does not reach the device control unit through the second communication line. It remains. On the other hand, when the first communication line is disconnected, the signal does not reach the device control unit through the first communication line, so the high temperature flag is not turned on and remains off. In addition, when the first communication line is not disconnected and the second communication line is temporarily disconnected due to poor connection or the like, and communication is restored, a signal is sent to the device control unit through the first communication line. Since it reaches, the high temperature flag is turned on, and then the signal reaches the device control unit through the second communication line, so that the high temperature flag is turned off.
Therefore, if the on / off history of the high temperature flag is confirmed, whether the first communication line is disconnected, the second communication line is disconnected, or there is no connection failure or the like in the second communication line. Can be easily determined.
Therefore, according to the third invention, it is possible to easily determine which one of the two types of communication lines (for example, the CAN communication line and the dedicated communication line) having different communication temperature ranges is disconnected, and troubleshooting. Becomes easy.

The fourth invention is:
In the first to third inventions,
The first communication line is a CAN communication line in which CAN (Controller Area Network) communication is performed.

  According to this configuration, it is possible to easily determine whether the communication line with the higher communication temperature range among the CAN communication line and the communication line with a higher communication temperature range than the CAN communication line is disconnected, and troubleshooting is possible. It becomes easy.

The fifth invention is:
In the vehicle control system according to the first aspect of the present invention, when both the communication using the first communication line and the communication using the second communication line have been interrupted, there is an abnormality in at least the second communication line. A device for determining whether or not
It is a disconnection determination apparatus provided with the abnormality determination part which reads the information of the said high temperature flag of the vehicle control system which concerns on Claim 1, and determines the presence or absence of abnormality based on the read information of the said high temperature flag.

According to the fifth aspect, on / off information of the high temperature flag is read, and if the read high temperature flag is on, it can be determined that the second communication line is disconnected.
Therefore, according to the fifth aspect, it is easy to determine whether the communication line having the higher communication temperature range is disconnected between the two types of communication lines having different communication temperature ranges (for example, the CAN communication line and the dedicated communication line). This makes it easy to troubleshoot.

The sixth invention is:
In the vehicle control system according to the second aspect of the invention, when both the communication using the first communication line and the communication using the second communication line have been interrupted, at least the second communication line is abnormal. A device for determining whether or not
It is an abnormality determination apparatus provided with the abnormality determination part which reads the information of the said high temperature flag of the vehicle control system which concerns on 2nd invention, and determines the presence or absence of abnormality based on the read information of the said high temperature flag.

According to the sixth invention, on / off information of the high temperature flag is read, and if the read high temperature flag is on, it can be determined that the second communication line is disconnected.
Therefore, according to the sixth invention, it is easy to determine whether the communication line having the higher communication temperature range is disconnected between the two types of communication lines having different communication temperature ranges (for example, the CAN communication line and the dedicated communication line). This makes it easy to troubleshoot.

The seventh invention
In the fifth or sixth invention,
The abnormality determination unit reads information on the high temperature flag of the vehicle control system according to the first invention, and determines that the second communication line is abnormal when the current high temperature flag is on. Features.

According to the seventh aspect, if the read high temperature flag is on, it is determined that the second communication line is disconnected.
Therefore, according to the seventh invention, it is easy to determine whether the communication line having the higher communication temperature range is disconnected between the two types of communication lines having different communication temperature ranges (for example, the CAN communication line and the dedicated communication line). This makes it easy to troubleshoot.

The eighth invention
In the vehicle control system according to the third aspect of the present invention, when both communication using the first communication line and communication using the second communication line have been interrupted, at least the second communication line is abnormal. A device for determining whether or not
An abnormality determination device provided with an abnormality determination unit that reads on / off history of the high temperature flag of the vehicle control system according to the third aspect of the invention and determines whether there is an abnormality based on the read on / off history of the high temperature flag It is.

According to the eighth invention, if the on / off history of the high temperature flag is confirmed, the first communication line is disconnected, the second communication line is disconnected, or the second communication line It is possible to easily determine whether there is no connection failure or the like.
Therefore, according to the eighth invention, it is possible to easily determine which one of two types of communication lines (for example, a CAN communication line and a dedicated communication line) having different communication temperature ranges is disconnected, and troubleshooting. Becomes easy.

The ninth invention
In the eighth invention,
The abnormality determination unit determines that there is an abnormality in the second communication line when the current high temperature flag is on, and when the high temperature flag remains off without being on, the first communication line It is determined that there is an abnormality in the communication line.

  According to the ninth invention, it is possible to easily determine which one of two types of communication lines (for example, a CAN communication line and a dedicated communication line) having different communication temperature ranges is broken, and troubleshooting is easy. It becomes.

The tenth invention is
A vehicle control system for recognizing a lane marking on a road surface and controlling an in-vehicle device based on the recognition information of the lane marking;
A camera control unit that controls a camera that captures the travel lane marking, processes a captured image of the camera in a temperature range equal to or lower than a first threshold, and outputs a lane marking recognition signal;
Based on the lane marking recognition signal, a device control unit that controls a predetermined in-vehicle device;
A temperature measurement unit for measuring the temperature near the camera control unit;
A first communication line that connects the camera control unit and the device control unit, and performs communication in a temperature range equal to or lower than a second threshold value that is higher than the first threshold value;
A second communication line that connects the camera control unit and the device control unit, and performs communication in a temperature range that exceeds the second threshold;
After both the communication by the first communication line and the communication by the second communication line are interrupted, the temperature measured by the temperature measuring unit immediately after the communication by the first communication line returns from the interruption is the above A high temperature that turns on a high temperature flag provided in the device control unit based on a signal transmitted from the camera control unit through the first communication line when the first threshold value or more and the second threshold value or less. A determination unit;
When both the communication by the first communication line and the communication by the second communication line have been interrupted, the information on the high temperature flag is read, and at least the second information is based on the read information on the high temperature flag. It is a vehicle control system provided with the abnormality determination part which determines whether there is abnormality in 2 communication lines.

  According to the tenth aspect of the invention, after both the communication using the first communication line and the communication using the second communication line are interrupted, the temperature measurement unit measures the measurement immediately after the communication using the first communication line returns from the interruption. Provided in the apparatus control unit based on a signal transmitted from the camera control unit through the first communication line by the communication return of the first communication line when the temperature is not less than the first threshold value and not more than the second threshold value. The high temperature flag is turned on.

The first communication line and the second communication line communicate in different temperature ranges. If the communication between the first communication line and the second communication line is interrupted, there is a high possibility that at least one of the first communication line and the second communication line is disconnected. It can be understood that the first communication line is not disconnected by confirming that the high temperature flag is turned on. Therefore, if it is confirmed that the high temperature flag is off, it is highly possible that the second communication line is disconnected, and it can be determined that the second communication line is disconnected.
Therefore, the abnormality determination unit can easily determine whether or not the second communication line is disconnected based on the on / off information of the high temperature flag.
Therefore, according to the tenth invention, it is easy to determine whether the communication line with the higher communication temperature range is disconnected between the two types of communication lines (for example, the CAN communication line and the dedicated communication line) having different communication temperature ranges. This makes it easy to troubleshoot.

The eleventh invention is
In the tenth invention,
When the high temperature flag is already turned on by the high temperature determination unit when the temperature measured by the temperature measurement unit exceeds the second threshold value, the camera control unit is returned by communication return of the second communication line. Is further provided with a high temperature determination clearing section for returning the high temperature flag to OFF based on a signal transmitted through the second communication line.

According to the eleventh invention, the communication of the second communication line is temporarily interrupted due to a disconnection of the second communication line or a connection failure between the second communication line and the camera control unit or the device control unit. However, when the second communication line is not disconnected, the high temperature flag is returned from ON to OFF by the communication return of the second communication line.
Therefore, according to the eleventh aspect of the present invention, it is erroneously assumed that the second communication line is disconnected when the communication of the second communication line is temporarily interrupted and then the communication of the second communication line is restored. The determination can be prevented.

  According to the present invention, of two types of communication lines having different communication temperature ranges (for example, a CAN communication line and a dedicated communication line), at least a communication line having a higher communication temperature range is abnormal (for example, disconnected) It is possible to provide a vehicle control system and an abnormality determination device that can easily determine whether or not the vehicle is in trouble and can easily troubleshoot.

(First embodiment)
A vehicle control system according to a first embodiment of the present invention will be described with reference to the drawings.
FIG. 1A is a block diagram showing the configuration of the vehicle control system according to the first embodiment, and FIG. 1B is a block diagram showing the configuration of the CPU of the device control unit in FIG. 1A. is there.

  The vehicle control system 1 according to the first embodiment is a vehicle control system that recognizes a travel lane line (not shown) on a road surface and controls an in-vehicle device based on recognition information of the travel lane line. The “travel lane line” in the present embodiment is a line that defines the travel lane of the vehicle, and includes various travel lane lines such as a roadway center line, a lane boundary line, and a roadway outer line. The “travel line” is displayed on the road surface with white paint, yellow paint, or the like.

  The vehicle control system 1 is, for example, a lane keeping assist system (hereinafter referred to as LKA). While the vehicle is traveling on the road, LKA captures and recognizes the left and right travel lane markings with a camera (not shown) on the windshield, so that the vehicle travels in the center of the lane. Assist the handling of Steering).

  The vehicle control system 1 includes a camera control unit 2, a device control unit 3, a temperature measurement unit 4, a first communication line 5, a second communication line 6, a communication interruption determination unit 11, and a high temperature determination unit. 7, a high temperature determination clear unit 8, an abnormality determination unit 9, and an ignition power source 20.

  The camera control unit 2 is a camera ECU (Electronic Control Unit) that controls a camera that captures an image of a travel lane marking, and processes a captured image of a camera (not shown) in a temperature range equal to or lower than a first threshold T1. A lane marking recognition signal is output. The camera control unit 2 includes a CPU (Central Processing Unit) 12, a storage unit (not shown), and a temperature measurement unit 4. When the camera temperature exceeds a threshold (hereinafter referred to as the first threshold T1), the image noise increases rapidly. The first threshold T1 is, for example, 45 ° C. For this reason, when the temperature of the camera control unit 2 exceeds the first threshold value T1, the camera control unit 2 stops the travel lane marking recognition operation of the camera. Since the camera and the camera control unit 2 are disposed in the vicinity of the windshield in the passenger compartment, the camera may become hot particularly during the daytime in summer, and the camera may stop the travel lane marking recognition operation. When the temperature measured by the temperature measurement unit 4 is not less than the first threshold T1 and not more than the second threshold T2, the camera control unit 2 transmits a temperature notification signal to the device control unit 3 through the first communication line 5. When the temperature measured by the temperature measurement unit 4 is less than the first threshold T1, the camera control unit 2 transmits a lane marking recognition signal and a temperature notification signal to the device control unit 3 through the first communication line 5. When the measured temperature of the temperature measuring unit 4 exceeds a threshold value (hereinafter referred to as the second threshold value T2) (see FIG. 2B), the camera control unit 2 has its temperature set to the second threshold value T2. A signal (shut-off notification signal) notifying that the power supply to itself is cut off due to exceeding the limit is transmitted to the apparatus control unit 3 through the second communication line 6.

  The apparatus control unit 3 is provided with a high temperature flag F. After the communication of the first communication line 5 and the second communication line 6 is interrupted, the temperature measured by the temperature measuring unit 4 immediately after the communication of the first communication line 5 returns from the interruption is the first threshold T1. When the temperature is equal to or lower than the second threshold T2 (see FIG. 2A), the apparatus control unit 3 sets the high temperature flag F to the default when the temperature notification signal is received from the camera control unit 2 through the first communication line 5. Turn from off to on. When the measured temperature of the temperature measuring unit 4 exceeds a threshold value (hereinafter referred to as the second threshold value T2) (see FIG. 2B), the device control unit 3 sends a cutoff notification signal through the second communication line 6. Is received, the high temperature flag F is returned from ON to OFF.

  The device control unit 3 is a device ECU (Electronic Control Unit), and controls a predetermined in-vehicle device (not shown) based on the lane marking recognition signal transmitted from the camera control unit 2. The in-vehicle device is, for example, an alarm device or an electric power steering device. The device control unit 3 includes a CPU (Central Processing Unit) 13 and a storage unit 14. The CPU 13 includes a high temperature determination unit 7, a high temperature determination clear unit 8, and a control unit 19. Details of the high temperature determination unit 7, the high temperature determination clear unit 8, and the control unit 19 will be described later.

  The ignition power supply 20 supplies power to the camera control unit 2 and the device control unit 3.

  The temperature measurement unit 4 measures the temperature near the camera control unit 2. The temperature measurement unit 4 is provided in the vicinity of the camera control unit 2. The temperature measurement unit 4 transmits a measurement temperature signal to the CPU 12 of the camera control unit 2 and the CPU 13 of the device control unit 3.

The first communication line 5 connects the camera control unit 2 and the device control unit 3 and communicates in a temperature range equal to or lower than the second threshold T2 higher than the first threshold T1. The first communication line 5 transmits a lane marking recognition signal and a temperature notification signal in a temperature range lower than the first threshold T1. In the example shown in FIG. 1, the first communication line 5 is a CAN (Controller Area Network) communication line. When the temperature of the ECU performing CAN communication exceeds the second threshold T2, there is a high possibility that erroneous data transmission is performed. For this reason, when the temperature of the ECU performing CAN communication exceeds the second threshold T2, the power supply to the ECU is stopped. The second threshold T2 is higher than the first threshold T1, and is 90 ° C., for example. Since the camera control unit 2 is disposed in the vicinity of the windshield together with the camera, the temperature of the camera control unit 2 becomes high particularly during the daytime in summer, and the power supply may be stopped. When the power supply is stopped, the camera control unit 2 cannot perform CAN communication and cannot transmit / receive a signal to / from the device control unit 3.
After the communication of the first communication line 5 and the second communication line 6 is interrupted, the temperature measured by the temperature measuring unit 4 immediately after the communication of the first communication line 5 returns from the interruption is the first threshold T1. As described above, when the value is equal to or smaller than the second threshold T2 (see FIG. 2A), the camera control unit 2 transmits the temperature notification signal to the device control unit 3 through the first communication line 5. . When receiving the temperature notification signal, the device control unit 3 turns on the high temperature flag F from the default OFF state as described above.

The second communication line 6 connects the camera control unit 2 and the device control unit 3 and communicates in a temperature range exceeding the second threshold T2, that is, the first communication line 5 and the second communication line 6 are Communication temperature ranges are different.
When the measured temperature of the temperature measuring unit 4 exceeds the second threshold T2 (see FIG. 2B), the camera control unit 2 turns off the high temperature flag F provided in the device control unit 3 as described above. A signal to be transmitted is transmitted to the device control unit 3 through the second communication line 6.

  The communication interruption detection unit 11 detects the interruption when both the communication through the first communication line 5 and the communication through the second communication line 6 are interrupted. Further, the communication interruption detection unit 11 detects the return of communication through the first communication line 5 and the return of communication through the second communication line 6.

  The high temperature determination unit 7 uses the temperature measurement unit 4 immediately after the communication via the first communication line 5 and the communication via the second communication line 6 are interrupted, and immediately after the communication via the first communication line 5 is recovered from the interruption. When the measured temperature is not less than the first threshold value T1 and not more than the second threshold value T2, it is provided in the device control unit 3 based on a signal transmitted from the camera control unit 2 through the first communication line 5. The high temperature flag F is turned on.

  When the temperature measured by the temperature measuring unit 4 exceeds the second threshold T2, the high temperature determination clearing unit 8 is based on a signal transmitted from the camera control unit 2 through the second communication line 6 to the device control unit. The high temperature flag F provided in 3 is returned from ON to OFF.

  The control unit 19 controls the electric power steering device and the like based on the captured image signal of the camera processed by the camera control unit 2.

  The storage unit 14 stores on / off information of the high temperature flag F. In addition, the storage unit 14 stores that communication has been interrupted between the camera control unit 2 and the device control unit 3.

  The abnormality determination unit 9 reads the information of the high temperature flag F when both the communication by the first communication line 5 and the communication by the second communication line 6 have been interrupted, and uses the read information of the high temperature flag F as the read information. Based on this, it is determined whether or not there is an abnormality in at least the second communication line 6. The abnormality determination unit 9 is provided, for example, in the abnormality determination device 21 carried by a service person who performs vehicle inspection. The abnormality determination device 21 is, for example, a PDA (Personal Digital Assistants). The abnormality determination device 21 can communicate with the device control unit 3 via a wireless transmission line or a wired transmission line.

  Next, the principle of determination of a communication line abnormality (for example, disconnection of a communication line) in the vehicle control system 1 will be described with reference to the flowcharts of FIGS.

First, the operation of the device control unit 3 for communication line abnormality determination will be described with reference to the flowchart of FIG.
It is assumed that both the communication using the first communication line 5 and the communication using the second communication line 6 are interrupted (step S1), and then the communication using the first communication line 5 is restored from the interruption (step S2). The apparatus control unit 3 determines whether the temperature measured by the temperature measurement unit 4 immediately after the return is equal to or higher than the first threshold value T1 and equal to or lower than the second threshold value T2 (step S3). When the temperature measured by the temperature measuring unit 4 is not less than the first threshold T1 and not more than the second threshold T2, the device control unit 3 turns on the high temperature flag F from the default OFF (step S4). On the other hand, when the temperature measured by the temperature measuring unit 4 is less than the first threshold T1, the camera control unit 2 determines that the lane marking recognition signal and the temperature notification signal (the temperature is less than the first threshold T1). Signal) to the apparatus control unit 3 through the first communication line 5. When receiving the signal, the device control unit 3 determines that the communication interruption has occurred for a reason other than the abnormality of the second communication line 6 (step S5). As a cause of communication interruption and communication recovery in this case, for example, a connection failure between the first communication line 5 and the device control unit 3 or the camera control unit 2 occurs temporarily, and then the connection failure occurs by chance. It is conceivable that communication has been restored due to the recovery.

  Thereafter, it is assumed that the temperature in the passenger compartment rises and the temperature measured by the temperature measurement unit 4 exceeds the second threshold T2 (step S6). Then, the camera control unit 2 sends a signal (cutoff notification signal) for notifying that the power supply to itself is cut off because the temperature of the camera control unit 2 exceeds the second threshold T2 through the second communication line 6. It transmits to the apparatus control part 3. The device control unit 3 determines whether or not a cutoff notification signal has been received (step S7). When the device control unit 3 determines that the cutoff notification signal has been received, the high-temperature flag F is returned from ON to OFF (step S8), and the process ends. On the other hand, if the device control unit 3 determines that the cutoff notification signal has not been received, the device control unit 3 ends the process while keeping the high temperature flag F on. The above is the operation of the device control unit 3 for communication line abnormality determination.

  In the first embodiment, after both the communication by the first communication line 5 and the communication by the second communication line 6 are interrupted, the temperature measurement unit 4 immediately after the communication by the first communication line 5 returns from the interruption. When the measured temperature is not less than the first threshold T1 and not more than the second threshold T2, based on the signal transmitted from the camera control unit 2 through the first communication line 5 by the communication return of the first communication line 5 The high temperature flag F provided in the device control unit 3 is turned on.

The first communication line 5 and the second communication line 6 communicate in different temperature ranges. If communication between the first communication line 5 and the second communication line 6 is interrupted, there is a high possibility that at least one of the first communication line 5 and the second communication line 6 is disconnected. It can be understood that the first communication line 5 is not disconnected by confirming that the high temperature flag F is on. Therefore, if it is confirmed that the high temperature flag F is turned off, it is highly possible that the second communication line 6 is disconnected, and it can be determined that the second communication line 6 is disconnected. it can.
Therefore, if the abnormality determination unit 9 confirms the on / off information of the high temperature flag F, it can be easily determined whether or not the second communication line 6 is disconnected.

In the first embodiment, since the high temperature determination clear unit 8 is provided, the second communication line 6 is almost disconnected, or the second communication line 6 and the camera control unit 2 or the device control unit 3 If the communication of the second communication line 6 is only temporarily interrupted due to a connection failure or the like, and the second communication line 6 is not disconnected, the high temperature flag F is set by the communication return of the second communication line 6. Returned from on to off.
Therefore, when the communication of the second communication line 6 is temporarily interrupted and then the communication of the second communication line 6 is restored, it is erroneously determined that the second communication line 6 is disconnected. Can be prevented.

Next, the operation of the abnormality determination unit 9 for determining a communication line abnormality will be described with reference to the flowchart of FIG.
It is assumed that a communication abnormal vehicle is received by the vehicle user at the service center (step S9). The abnormality determination unit 9 acquires on / off information of the high temperature flag F from the device control unit 3 via a wired transmission path or a wireless transmission path (see FIG. 1) (step S10). Next, the abnormality determination unit 9 determines whether or not the acquired high temperature flag F is on (step S11). If the high temperature flag F is on, the abnormality determination unit 9 determines that the second communication line 6 is disconnected (step S12), and displays that fact on the screen of the abnormality determination device 21 (step S13). The process is terminated. On the other hand, if the high temperature flag F is off, the abnormality determination unit 9 determines that there is a possibility that the first communication line 5 is disconnected (step S14), and displays that fact on the screen of the abnormality determination device 21. Display (step S15), and the process ends. Thus, the operation in the abnormality determination unit 9 is completed.

  As described above, according to the first embodiment, the communication line having the higher communication temperature range (second communication line) of the two types of communication lines having different communication temperature ranges (for example, the CAN communication line and the dedicated communication line) It is possible to easily determine whether or not the communication line 6) is disconnected, and troubleshooting becomes easy.

  Next, a second embodiment of the vehicle control system according to the present invention will be described with reference to the drawings. FIG. 5A is a block diagram showing the configuration of the vehicle control system according to the first embodiment, and FIG. 5B is a block diagram showing the configuration of the CPU of the device control unit in FIG. 1A. is there. In addition, about the structure similar to 1st Embodiment, the same referential mark is attached | subjected and the description is abbreviate | omitted.

  In the vehicle control system 16 according to the second embodiment, the device control unit 3 is replaced with the device control unit 17, the storage unit 14 is replaced with the storage unit 18, and the abnormality determination device 21 is abnormal. The difference from the first embodiment is that the determination device 22 is replaced, and the abnormality determination unit 9 is replaced by the abnormality determination unit 15. Other configurations are the same as those of the first embodiment.

  The storage unit 18 stores an on / off history of the high temperature flag F. Further, the storage unit 18 stores that communication has been interrupted between the camera control unit 2 and the device control unit 3.

  The abnormality determination unit 15 reads the on / off history of the high temperature flag F of the vehicle control system 16 and determines whether there is an abnormality based on the read on / off history of the high temperature flag F.

  Next, the principle of determination of communication line abnormality (for example, disconnection of communication line) in the vehicle control system 16 will be described with reference to the flowcharts of FIGS.

First, the operation of the device control unit 17 for communication line abnormality determination will be described with reference to the flowchart of FIG.
It is assumed that both the communication using the first communication line 5 and the communication using the second communication line 6 are interrupted (step S1), and then the communication using the first communication line 5 is restored from the interruption (step S2). Immediately after the return, the camera control unit 2 determines whether the temperature measured by the temperature measurement unit 4 is equal to or higher than the first threshold value T1 and equal to or lower than the second threshold value T2 (step S3). When the temperature measured by the temperature measurement unit 4 is not less than the first threshold T1 and not more than the second threshold T2, the camera control unit 2 sends a temperature notification signal to the device control unit 3 through the first communication line 5. Send. When receiving the temperature notification signal, the device control unit 3 turns on the high temperature flag F provided in the device control unit 3 from the default OFF (step S4). The history information in which the high temperature flag F is turned on from off is stored in the storage unit 18 (step S4A). On the other hand, when the temperature measured by the temperature measurement unit 4 is less than the first threshold value T1, the camera control unit 2 transmits a temperature notification signal indicating that to the device control unit 3 through the first communication line 5. . Upon receiving the temperature notification signal, the device control unit 17 determines that the communication interruption has occurred for a reason other than the abnormality of the second communication line 6 (step S5). As a cause of communication interruption and communication recovery in this case, for example, a connection failure between the first communication line 5 and the device control unit 3 or the camera control unit 2 occurs temporarily, and then the connection failure occurs by chance. It is conceivable that communication has been restored due to the recovery.

  Thereafter, it is assumed that the temperature in the passenger compartment rises and the temperature measured by the temperature measurement unit 4 exceeds the second threshold T2 (step S6). Then, the camera control unit 2 sends a signal (cutoff notification signal) for notifying that the power supply to itself is cut off because the temperature of the camera control unit 2 exceeds the second threshold T2 through the second communication line 6. It transmits to the apparatus control part 3. The device control unit 3 determines whether or not a cutoff notification signal has been received (step S7). When determining that the cutoff notification signal has been received, the device control unit 3 returns the high temperature flag F from on to off (step S8). The history information in which the high temperature flag F is returned from on to off is stored in the storage unit 18 (step S8A), and the process is terminated. On the other hand, if the device control unit 3 determines that the cutoff notification signal has not been received, the device control unit 3 ends the process while keeping the high temperature flag F on. The above is the operation of the device control unit 3 for communication line abnormality determination.

  In the second embodiment, as in the first embodiment, when the first communication line 5 is not disconnected and the second communication line 6 is disconnected, the signal for turning on the high temperature flag F is the first signal. The high temperature flag is turned on because it reaches the device control unit 3 through the communication line 5, but the high temperature flag remains turned on since the cutoff notification signal does not reach the device control unit 3 through the second communication line 6. is there. On the other hand, if the first communication line 5 is disconnected, the temperature notification signal does not reach the device control unit 3 through the first communication line 5, so the high temperature flag F is not turned on and remains off. Further, the communication of the second communication line 6 is temporarily interrupted due to the disconnection of the second communication line 6 or the poor connection between the second communication line 6 and the camera control unit 2 or the device control unit 3. If the second communication line 6 is not disconnected, the high temperature flag F is returned from ON to OFF by the communication return of the second communication line 6.

  In the second embodiment, if the abnormality determination unit 15 confirms the on / off history of the high temperature flag F, is the first communication line 5 broken or the second communication line 6 is broken? Alternatively, it can be easily determined whether there is no abnormality in the first communication line 5 and the second communication line 6.

Next, the operation of the abnormality determination unit 15 for determining a communication line abnormality will be described with reference to the flowchart of FIG.
It is assumed that a communication abnormal vehicle is received by the vehicle user at the service center (step S9). The abnormality determination unit 15 acquires the on / off history of the high temperature flag F from the device control unit 17 via, for example, a wireless transmission path (step S10). Next, the abnormality determination unit 15 determines whether or not the current high temperature flag F is on (step S11). If the current high temperature flag F is on, the abnormality determination unit 15 determines that the second communication line 6 is disconnected (step S12), and displays that fact on the screen of the abnormality determination unit 15 (step S12). S13), the process is terminated. On the other hand, if the current high temperature flag F is off, the abnormality determination unit 15 determines whether it was on before the off based on the on / off history (step S14). If it is ON, it is determined that there is a possibility of connection failure in the first communication line 5 and the second communication line 6 (step S15), that effect is displayed (step S16), and the process is terminated. . In step S16, confirmation of connection between the first communication line 5 and the camera control unit 2 and the device control unit 3 and confirmation of connection between the second communication line 6 and the camera control unit 2 and the device control unit 3 are recommended. May be displayed. On the other hand, if it remains off, it is determined that the first communication line 5 is disconnected (step S17), a message to that effect is displayed (step S18), and the process is terminated. Thus, the operation of the abnormality determination unit 15 is finished.

  According to the second embodiment, it is possible to easily determine which one of two types of communication lines (for example, a CAN communication line and a dedicated communication line) having different communication temperature ranges is broken, and troubleshooting is easy. It becomes.

  In a vehicle control system that performs lane keeping assistance or the like based on a captured image of an in-vehicle camera, which of two types of communication lines (for example, a CAN communication line and a dedicated communication line) with different communication temperature ranges is abnormal. This is useful for easy determination.

The block diagram which shows the structure of the vehicle control system which concerns on 1st Embodiment. The figure which shows the relationship between measured temperature and a 1st threshold value and a 2nd threshold value in 1st Embodiment. The flowchart which shows operation | movement of the apparatus control part for communication line abnormality determination in 1st Embodiment. The flowchart which shows operation | movement of the abnormality determination part for communication line abnormality determination in 1st Embodiment. The block diagram which shows the structure of the vehicle control system which concerns on 2nd Embodiment. In 2nd Embodiment, the flowchart which shows operation | movement of the apparatus control part for communication line abnormality determination The flowchart which shows operation | movement of the abnormality determination part for communication line abnormality determination in 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,16 Vehicle control system 2 Camera control part 3,17 Apparatus control part 4 Temperature measurement part 5 1st communication line 6 2nd communication line 7 High temperature determination part 8 High temperature determination clear part 9, 15 Abnormality determination part 13 CPU
14, 18 Storage unit 21, 22 Abnormality determination device T1 First threshold T2 Second threshold F High temperature flag

Claims (11)

A vehicle control system for recognizing a lane marking on a road surface and controlling an in-vehicle device based on the recognition information of the lane marking;
A camera control unit that controls a camera that captures the travel lane marking, processes a captured image of the camera in a temperature range below a first threshold, and outputs a lane marking recognition signal;
A device control unit for controlling a predetermined in-vehicle device based on the lane marking recognition signal;
A temperature measuring unit for measuring the temperature in the vicinity of the camera control unit;
A first communication line connecting the camera control unit and the device control unit, and performing communication in a temperature range equal to or lower than a second threshold value higher than the first threshold value;
A second communication line that connects the camera control unit and the device control unit, and performs communication in a temperature range that exceeds the second threshold;
After both the communication by the first communication line and the communication by the second communication line are interrupted, the temperature measured by the temperature measuring unit immediately after the communication by the first communication line returns from the interruption is the When it is equal to or greater than a first threshold and equal to or less than the second threshold, the apparatus control unit receives the signal transmitted from the camera control unit through the first communication line due to the communication return of the first communication line. A vehicle control system comprising: a high temperature determination unit that turns on a provided high temperature flag.   When the high temperature flag is already turned on by the high temperature determination unit when the temperature measured by the temperature measurement unit exceeds the second threshold value, the camera control unit is returned by communication return of the second communication line. 2. The vehicle control system according to claim 1, further comprising a high temperature determination clear unit that turns off the high temperature flag based on a signal transmitted from the first communication line through the second communication line.   The vehicle control system according to claim 2, further comprising a storage unit that stores an on / off history of the high temperature flag.   The vehicle control system according to any one of claims 1 to 3, wherein the first communication line is a CAN communication line in which CAN (Controller Area Network) communication is performed. In the vehicle control system according to claim 1, when both communication by the first communication line and communication by the second communication line have been interrupted, is there an abnormality in at least the second communication line? An apparatus for determining whether
The abnormality determination apparatus provided with the abnormality determination part which reads the information of the said high temperature flag of the vehicle control system which concerns on Claim 1, and determines the presence or absence of abnormality based on the read information of the said high temperature flag. Whether there is an abnormality in at least the second communication line when both the communication using the first communication line and the communication using the second communication line of the vehicle control system according to claim 2 have been interrupted. An apparatus for determining whether
The abnormality determination apparatus provided with the abnormality determination part which reads the information of the said high temperature flag of the vehicle control system which concerns on Claim 2, and determines the presence or absence of abnormality based on the read information of the said high temperature flag.   The abnormality determination unit reads information on the high temperature flag of the vehicle control system according to claim 1, and determines that there is an abnormality in the second communication line when the current high temperature flag is on. The abnormality determination device according to claim 5 or 6. Whether there is an abnormality in at least the second communication line when both the communication using the first communication line and the communication using the second communication line of the vehicle control system according to claim 3 have been interrupted. An apparatus for determining whether
The abnormality determination apparatus provided with the abnormality determination part which reads the on / off history of the said high temperature flag of the vehicle control system which concerns on Claim 3, and determines the presence or absence of abnormality based on the read on / off history of the said high temperature flag.   The abnormality determination unit determines that there is an abnormality in the second communication line when the current high temperature flag is on, and the first when the high temperature flag remains off without being on. The abnormality determination device according to claim 8, wherein the communication line is determined to be abnormal. A vehicle control system for recognizing a lane marking on a road surface and controlling an in-vehicle device based on the recognition information of the lane marking;
A camera control unit that controls a camera that captures the travel lane marking, processes a captured image of the camera in a temperature range below a first threshold, and outputs a lane marking recognition signal;
A device control unit for controlling a predetermined in-vehicle device based on the lane marking recognition signal;
A temperature measuring unit for measuring the temperature in the vicinity of the camera control unit;
A first communication line connecting the camera control unit and the device control unit, and performing communication in a temperature range equal to or lower than a second threshold value higher than the first threshold value;
A second communication line that connects the camera control unit and the device control unit, and performs communication in a temperature range that exceeds the second threshold;
After both the communication by the first communication line and the communication by the second communication line are interrupted, the temperature measured by the temperature measuring unit immediately after the communication by the first communication line returns from the interruption is the When it is equal to or greater than a first threshold and equal to or less than the second threshold, the apparatus control unit receives the signal transmitted from the camera control unit through the first communication line due to the communication return of the first communication line. A high temperature determination unit that turns on the provided high temperature flag;
When both the communication by the first communication line and the communication by the second communication line have been interrupted, the information on the high temperature flag is read, and at least the first information is based on the read information on the high temperature flag. The vehicle control system provided with the abnormality determination part which determines whether there is abnormality in 2 communication lines.   When the high temperature flag is already turned on by the high temperature determination unit when the temperature measured by the temperature measurement unit exceeds the second threshold value, the camera control unit is returned by communication return of the second communication line. The vehicle control system according to claim 10, further comprising a high-temperature determination clear unit that turns off the high-temperature flag based on a signal transmitted from the first communication line through the second communication line.

Images