JPH0256250B2 - - Google Patents

Description

[Detailed description of the invention]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device, and more specifically, to a vehicle control device that uses a microcomputer to control various vehicle devices including an internal combustion engine device. BACKGROUND OF THE INVENTION Although internal combustion engine vehicles have been controlled by microcomputers for a long time, the control content has become more complex year by year, and high-precision control has been required. Therefore, as the number of control items executed by the microcomputer increases, the number of input/output items increases, and the burden on the microcomputer tends to increase.
There is a growing demand for faster control. In order to meet these demands, a microcomputer with higher performance may be used, but such a microcomputer is expensive and becomes a factor that increases the manufacturing cost of the device. Therefore, various methods have been proposed to efficiently use inexpensive microcomputers. For example, one of them is to divide a program into small programs called tasks, which are started by a soft timer and used to control engine control. It has been proposed that a RAM is provided with as many soft timer tables as the number of tasks classified based on control functions, and tasks are stopped by clearing the contents of the soft timer tables (Japanese Patent Laid-Open No. 56−
(See Publication No. 38541). In this method, each task is started according to the value of a soft timer set for each task, and each task has its own priority. When a high task activation request is issued, information about the currently executing task is temporarily saved in RAM. After the execution of the task with a higher priority is completed, the information stored in the RAM is retrieved and the execution of the suspended task is resumed. Problems to be Solved by the Invention However, in the above-mentioned method, a save area must be provided in memory according to the number of priorities of tasks, which requires a large amount of memory and also increases the number of tasks. If the number increases, there is a problem in that the burden on the dispatcher, such as setting a timer and searching for activation requests, increases. Furthermore, since tasks are prioritized and tasks with a higher priority are prioritized by interrupts, tasks with a lower priority may take a long time to complete, and in some cases As a result, there is a risk that a task with a low priority will not be activated. In addition, although the startup cycle and startup order of tasks generally change depending on the operating state of the engine, changes in the operating state are detected and the timer time of the soft timer corresponding to each task is set. There was a problem that had to be fixed and the program became complicated. The purpose of the present invention is to reduce the memory capacity,
It is an object of the present invention to provide a control device for a vehicle that can significantly improve the usage efficiency of a microcomputer and easily switch control according to the driving condition of the vehicle. Means for Solving the Problems The present invention has a configuration in which a control program for controlling a vehicle device is divided into a plurality of unit programs, and the unit programs are selectively activated in accordance with activation requests that occur intermittently. In a vehicle control device configured to control a vehicle by executing a start request, a start request generating means for intermittently issuing a request signal for a start request at least at predetermined fixed time intervals; The execution frequency of each program is determined based on the activation cycle required for each of a plurality of programs consisting of one or more unit programs whose time required for the program is determined to be shorter than the predetermined time. a memory means storing a plurality of sets of data regarding execution patterns corresponding to the driving mode of the vehicle; a selection means for detecting the driving mode of the vehicle and selecting one set of data corresponding to the detection result; means for executing one required program according to an execution pattern according to the set of data selected by the selection means each time the request signal is issued, and the unit program is configured to execute the set of data selected by the unit program. It is characterized in that it is repeatedly executed according to the execution pattern indicated by . Operation According to the above-described configuration, each program is executed every time a startup request occurs in a predetermined pattern at least at a certain time interval. As a result, each unit program, that is, each task, is executed at a frequency according to the execution pattern, and thereby each unit program is executed at the required startup cycle. A plurality of execution patterns are prepared in advance according to the driving mode of the vehicle, and even if the driving mode of the vehicle changes, the optimal program execution frequency is always guaranteed. Therefore, there is no need to make any changes to the monitor program, so the wasted time of the monitor does not increase at all, the number of tasks that can be loaded can be significantly increased, and the program can be prevented from becoming complicated. As a result, appropriate control according to the driving state of the vehicle can be easily performed, and an efficient vehicle control device can be constructed. Embodiment FIG. 1 shows a schematic configuration diagram showing the basic concept of the present invention. The vehicle control device 400 is a device for controlling required vehicle devices according to a predetermined control program. A predetermined control program is divided in advance into a plurality of unit programs (hereinafter referred to as tasks) and stored in an appropriate storage device 401.
stored inside. Startup request generation means 404
is a means for intermittently issuing a request signal for requesting activation at least at predetermined fixed time intervals. Each program executed in response to this request signal is composed of one or more tasks, and each of these programs is
The combination of tasks is taken into consideration so that the time required for their execution is shorter than the above-mentioned fixed time. Data regarding execution patterns that determine the frequency of execution of each program is stored in the memory means 402 based on the activation cycle required for each of the plurality of programs configured in this manner. Therefore, it is desirable that tasks that require similar startup cycles belong to the same program. Incidentally, the required activation frequency of each task and the type of task to be executed change depending on the driving state of the vehicle. Therefore, in order to cope with this, a plurality of sets of data corresponding to a plurality of execution patterns respectively corresponding to a plurality of predetermined vehicle driving states are stored in the memory means 402, and data sets are stored in the memory means 402. A required set of data is selected by the selection means 403 according to the driving state of the vehicle. The activation request generation means 404 is a means for generating a task activation request, and which task is requested to be activated is determined according to an execution pattern indicated by a set of data selected by the selection means 403. It will be done. The activation request from the activation request generation means 404 is input to the calculation means 405, and according to the activation request, a required task is called from the storage device 401, and the calculation means 405 inputs the task to the calculation means 404 if necessary. The task is performed using the data currently available. In this way, each task is sequentially executed at the required frequency according to an execution pattern that is appropriate for the driving mode at that time, according to an execution pattern that corresponds to the vehicle driving state at the time.
Vehicle control is performed appropriately and efficiently. The above-mentioned control device can be realized using a microcomputer which is a stored program type digital computer, and the present invention will be described in detail below with reference to specific embodiments. FIG. 2 shows an overall configuration diagram of a control system of an embodiment of a vehicle control device in which the present invention is applied to a control device for a diesel locomotive with an auto-cruise function. Vehicle control device 1
is a device for controlling a vehicle (not shown) driven by a diesel engine 3 supplied with fuel from a fuel injection pump 2, and includes first and second microcomputers 4 and 5. There is. The first microcomputer 4 mainly performs control calculations for controlling the injection amount of the fuel injection pump 2, controlling the injection timing of the fuel injection pump 2, and controlling the vehicle speed. The configuration is such that it mainly performs various calculation processes necessary for the control calculations to be executed. The first and second microcomputers 4 and 5 each have a built-in ROM, and
It is connected to an externally provided random access memory (RAM) 6, and the RAM 6 selectively connects either one of the first and second microcomputers 4 and 5 to the RAM 6 as described later. Via the bus line 22 that can
It is configured so that it can be accessed by the first or second microcomputer 4, 5, respectively. An analog/digital converter (A/D) 8 is connected to the first microcomputer 4 via a bus line 7 . In A/D8,
Water temperature signal indicating cooling water temperature of diesel engine 3
Water temperature sensor 9 for outputting TW, intake temperature sensor 10 for outputting intake temperature signal TA indicating intake air temperature, fuel temperature sensor 11 for outputting fuel temperature signal TF indicating fuel temperature, and intake pressure. An intake pressure sensor 12 for outputting an intake pressure signal PI is connected, and the above-mentioned signals from these sensors are converted into digital signals in the A/D 8 and sent to the first microcomputer 4 via the bus line 7. is input. The angle sensor 13 attached to the output shaft of the diesel engine 3 outputs an alternating current signal AC having timing information when each cylinder piston in the diesel engine 3 reaches the top dead center, and this alternating current signal AC has a waveform In the processing circuit 14, it is converted into a top dead center pulse signal TN consisting of a timing panel indicating the top dead center timing of the diesel engine 3, and is input to the first microcomputer 4. Furthermore,
The lift signal LS from the needle valve lift sensor 16 attached to the fuel injection valve 15 in order to detect the fuel injection timing to the diesel engine 3 is waveform-shaped in the waveform shaping circuit 17, and is converted to the actual fuel in the cylinder based on a predetermined standard. It is input to the first microcomputer 4 as an injection timing pulse TNL indicating the injection timing. The accelerator sensor 18 outputs an accelerator signal APP according to the operation amount of the accelerator pedal 19, and the accelerator signal APP is sent to the first microcomputer 4.
is input. On the other hand, the second microcomputer 5 receives an output from the vehicle speed sensor 23 for detecting the vehicle speed.
Vehicle speed data TUSP indicating the current vehicle speed is input, and a cruise switch 20 for auto-cruise control is connected to the input port of the second microcomputer 5. The structure is such that it can be controlled. Note that the start switch 21 supplies a starting signal ST to the first microcomputer 4 when starting the diesel engine 3. The information taken into the first microcomputer 4 is once transferred to the RAM 6 via the bus line 22, and the contents of the data transferred to the RAM 6 are further transferred to the second microcomputer 5 via the bus line 22. be able to. Incidentally, switching of the connection of the bus line 22 for this data transfer is performed within each microcomputer 4, 5. The injection amount control calculation result in the first microcomputer 4 is inputted to a servo circuit 28 for controlling the position of the control rack 27 of the fuel injection pump 2 via a digital/analog converter (D/A) 26. Diesel engine 3 has the optimum injection amount depending on the engine operating conditions.
The position of the control rack 27 is controlled so that it is supplied with the desired amount of water. Reference numeral 29 indicates an alarm lamp that lights up when an abnormality occurs in the control or the like. The second microcomputer 5 is given the calculation result for the injection timing control of the fuel injection pump 2 executed by the first microcomputer 4, and according to this calculation result, the timing control signal is
TCS is output from the second microcomputer 5 and supplied to the timer 31 via the amplifier 30,
As a result, optimal timing control is performed. FIG. 3 shows a program configuration diagram of the first microcomputer 4 shown in FIG.
As already mentioned, the first microcomputer 4
The program is mainly determined to execute control calculations for injection amount and injection timing, and first, initialization processing 41 is performed in response to turning on the power, and here, the RAM 6 and each register are The contents are cleared, each input information is read, and if there is no other interrupt processing, background job processing 42 is executed. The background job is executed between tasks and other processes executed by interrupts, which will be described later. In the illustrated embodiment, the calculation of the rotational speed and the driving frequency of the timer 31 are It is done. When the second microcomputer 5 outputs a bus request when accessing the RAM 6, an interrupt NMI is generated, and the bus line 22, which is normally connected to the first microcomputer 4, is freed by the bus free processing 43. When the second microcomputer 5 finishes accessing the RAM 6, the bus line 22 is connected to the first microcomputer 4 again. Interrupted by a signal generated from an external timer
When TIM is applied, this will cause alarm lamp 2
Warning lamp drive processing 44 for performing the ON/OFF drive of 9 is executed. An interrupt MON is generated by a monitor signal that is output when the value of the free running counter reaches a predetermined value. The first interrupt process 45 is executed by this monitor signal, and a certain period of time Δt
A free running counter is set so that a monitor signal is outputted later. Next, a synchronization process 46 (described later) is executed, and then a monitor process 47 for determining which task is to be executed is executed. Here, the task is
Each task is an independent program obtained by dividing the control calculations to be executed in the first microcomputer 4, and each task further includes one or more control subroutines included in the control subroutine program group 48. It consists of a chin program. The execution time of each task is determined to be within the time Δt and to minimize variations. Therefore, the processing of each task performed in the task processing 49 is performed by interrupt MON
When the interrupt is multiplied, the interrupt processing always ends within the given interrupt processing time. The execution order of the tasks determined in the monitor process 47 is determined in relation to the priority of each task, and tasks with higher priorities are determined to be executed more frequently. The execution order of the tasks is determined according to the contents of the task table stored in the ROM within the first microcomputer 4. The task table is as described below.
This is a table in which codes indicating each task are arranged in a matrix in consideration of the activation cycle and activation order of each task. Generally, the startup cycle and startup order of each task are as follows:
This differs depending on the operating state of the engine, and therefore, in this example, as will be described in detail later, the There are 3 tables available. Note that how each task is activated according to these tables will be described later. When task processing 49 finishes executing, background job processing 4 continues until the next interrupt occurs.
2 is being executed. When the next monitor signal is output, in monitor processing 47, processing of the next task determined according to the above-described task table is performed in task processing 49. Upon generation of the injection timing pulse TNL, the interrupt NL is executed, and the third interrupt process 51 is executed. The third interrupt process 51 is an injection timing pulse
A soft counter for injection advance angle detection is activated based on the TNL generation timing. Then, the interrupt TDC is executed by the generation of the top dead center pulse signal TN, and by the second interrupt processing 50, the counting operation of the soft counter is performed by the top dead center pulse signal TN corresponding to the injection timing pulse TNL. is stopped, and data _tNL related to the injection advance value is calculated from the counting result (see Figures 4a and 4b). Second
In the interrupt processing 50, the top dead center pulse signal TN
The data t _N related to the time interval between two consecutive pulses is calculated (see FIG. 4a). Next, the program configuration of the second microcomputer 5 will be explained with reference to FIG. When the power is turned on or when the first microcomputer 4 resets the second microcomputer 5, an initialization process 61 is executed, and a monitor process 62 and a task process 63 are executed. Necessary arithmetic processing tasks associated with control arithmetic by the microcomputer 4 are executed.
The content of this arithmetic processing will be described in detail later. When there is an arithmetic request from the first microcomputer 4, an interrupt NMI is generated, and a flag for the arithmetic request is set in flag setting processing 64. An interrupt TIM is applied in response to the external timer signal, and in the fourth interrupt processing 65, from the RAM 6,
The period of the drive pulse signal of the timer 31 and its duty ratio data are read, and time data _tDTY related to the duty ratio is created. Then, a switch process 66 for reading the state of the cruise switch 20 and storing it in the RAM 6 is executed. In response to the vehicle speed data TUSP being output from the vehicle speed sensor 23 in relation to the vehicle speed,
An interrupt VSP is applied, and the generation cycle of the signal TUSP is detected (cycle reading process 67). When the value of the free running counter reaches a predetermined value, an interrupt TCV is applied and timer 3
At the same time, an inversion process 68 is executed to invert the first drive signal and set the required time until the next timing at which the drive signal should be inverted. As a result, a drive signal with a desired duty ratio is output at a desired period. The synchronization process 46, the monitor process 47, and the task process 49 executed by monitor interrupts will be explained in detail below. This will be explained with reference to the figures. FIG. 6 shows a fuel injection amount control system 70 and an injection timing control system 90 that are executed by the first microcomputer 4.
First, the fuel injection amount control system 70 will be explained. The control system 70 has six types of injection amount calculation sections indicated by symbols 71 to 76. Axel Q
The calculation unit 71 calculates the injection amount according to the operation of the accelerator pedal 19, and outputs the result as data Q _APP . The idle Q calculation unit 72 calculates the injection amount required during idling operation and stores the result as data.
Q Output as _IDL . Cruise Q calculation section 73
calculates the injection amount required for driving at a constant speed, and outputs the result as data Q _CR . The full Q calculation unit 74 calculates and outputs data Q _FUL indicating a predetermined maximum injection amount characteristic in which the maximum value of the injection amount is determined as a function of the engine speed. Smoke Q calculation section 75
calculates and outputs data Q _SMK indicating the injection amount according to a predetermined smoke limit, and the start Q calculation unit 76 calculates and outputs injection amount data Q _ST indicating the starting amount increase. Data Q _APP and Q _IDL are added in an adder 77, and the added output data and data Q _CR are input to a maximum value selector (MAX) 78, and the larger data is output. The data Q _FUL , Q _SMK and the selection data from the maximum value selection section 78 are input to a minimum value selection section (MIN) 79, and the data with the smallest value is taken out as target injection amount data. This target injection amount data is applied in cases other than when the engine is started, and when the engine is started, the data Q _ST becomes the target injection amount data. The switch 80 is a starting signal that is output in response to the operation of the start switch 21.
It is controlled by ST, and operates to select data Q _ST when the start signal ST is output, and to select output data from MIN79 in other cases. The data selected by the switch 80 is multiplied by a predetermined correction coefficient according to the fuel temperature at that time in the fuel temperature correction section 81, so that even if the fuel temperature changes, the amount of fuel according to the target injection amount data is The target injection amount data is corrected so that the following is obtained. The data corrected in the fuel temperature correction unit 81 is input to the pump characteristic calculation unit 82, and after a pump characteristic calculation process is performed to convert the input injection amount data into position data according to the pump characteristics, the data is output. Final target position data from part 83
P _OUT is output, and this data P _OUT is sent to the servo circuit 2 via the D/A 26 as shown in FIG.
8 is input. The injection timing control system 90 includes a load timer characteristic calculation section 91 for calculating the target injection timing according to the operating state of the engine and outputting data _TLD indicating the result, and a load timer characteristic calculation section 91 for calculating the target injection timing according to the operating state of the engine and outputting data TLD indicating the result. A water temperature correction value calculation unit 92 for calculating correction data for timing correction and outputting data T _TW indicating the result, and a water temperature correction value calculation unit 92 for calculating correction data for water temperature at startup and outputting data T _TWS indicating the result. The data T _LD is added to the data T _TW or T _TWS in an adder 94 . In other words, one of the data T _TW and T _TWS is supplied to the adding section 94 via a switch 95 that is switched and controlled by a starting signal ST indicating whether or not the engine is in a starting state. At the time of startup, data T _TWS is selected and added to data T _LD , and at times other than startup, data T _TW is selected and added to data T _LD . The addition result from the addition unit 94 is input as target injection timing data to an error calculation unit 96 into which a signal indicating the actual injection timing is input, and here the difference between the target value and the actual value of the injection timing (time) is input. The difference is calculated, and the error data T _E representing the result is input to the PID calculation section 97. After the data processing required for PID control is performed, the data representing the result is sent to the pulse width modulation section (PWM). )98
is input. The pulse width modulation section 98 is supplied with calculation data from a drive frequency calculation section 99 that calculates the frequency of the pulse signal that drives the timer 31 . A driving pulse signal for driving the timer 31 is outputted, the duty ratio of which changes in accordance with the output data from the PID calculation unit 9 at a frequency according to the data to be input. This drive pulse signal is
The timing control signal TCS is applied to a control valve (not shown) in a timer 31 via an amplifier 30. (See Figure 2). In order to execute each calculation for control shown in Fig. 6 by a microcomputer, the calculations necessary for these controls are summarized as a control subroutine program, and Fig. 7 shows a program corresponding to Fig. 6. , their control subroutine programs are shown. In FIG. 7, the calculation contents are shown at the top of each block, and the control subroutine names are displayed at the bottom. These control subroutine programs are stored in the ROM of the first microcomputer 4 as a subroutine group. Table 1 shows a list of each control subroutine program.

【table】

[Table] The execution times of these control subroutine programs vary, and the execution frequencies required for control also vary. In order to efficiently execute such subroutine programs, multiple tasks consisting of one or more of these control subroutine programs are defined, and tasks are executed at predetermined time intervals for each task, taking into consideration the execution priority of the task. The configuration is such that the program is started. The task start time interval is determined based on the task table, but it is desirable to change the execution pattern depending on the engine operating conditions, as some tasks may not need to be started depending on the operating conditions. It is. Therefore, as mentioned above, this device has three operating conditions for the engine: when starting (mode 0), when operating in a low rotation range (mode 1), and when operating in a high rotation range (mode 2). A dedicated task table is prepared for each mode.
Task tables for each mode are shown in Tables 2 through 4.

【table】

【table】

[Table] The execution order of the tasks listed in these task tables will be explained using mode 0 as an example. Each task is divided into task levels 0 to 8 in consideration of the required execution frequency, and at each task level, the tasks are arranged from the left in descending order of execution priority. The activation and execution of each task arranged in this way is performed as shown below. (b) Each task shall be started only once for each monitor interrupt that occurs at a fixed time interval, and its execution shall be completed by the time the next monitor interrupt occurs.
Interrupt processing for other tasks is not performed while other tasks are being executed. (b) The order of tasks executed by a monitor interrupt is that each task at task level 0 is executed by a monitor interrupt.
Each task at task level ¹ is performed every ²² monitor interrupts, and generally each task at task level k is performed every 2 ^k+1 monitor interrupts. (c) For tasks within the same task level, each time the order of activation for that task level comes around, the tasks are activated sequentially starting from those arranged on the left. Therefore, the task table indicates the order in which tasks are executed, and which task should be placed where in the task table should be determined as appropriate, taking into account the required execution frequency and execution priority for that task. can be determined. FIG. 8 shows a detailed flowchart of a monitor interrupt program executed in the first microcomputer 4 to sequentially execute each task based on the task tables shown in Tables 2 to 4. ing. When execution of the monitor interrupt is started, first, as a process for generating a monitor interrupt at a period of time Δt, the value Y of the free running counter plus Δt is set to X (step 110). The free running counter is
Since the configuration is such that a monitor interrupt is applied when the value Y at that time reaches a predetermined value will be multiplied. Next, in step 111, a check is made to see if tasks are activated in an overlapping manner, and if so, the currently executing task continues to be executed. On the other hand, if there is no overlap, the process advances to step 112. Note that whether or not there is an overlap is determined by a flag OL, which will be described later. In step 112, it is determined whether an external event has occurred and there is a need for synchronous processing, and if there is a synchronous processing request, step 113 is performed.
At step 114, synchronization processing is performed.
If the determination result in step 112 is NO, the process proceeds to step 114 without executing step 113. In step 114, the flag OL indicating that the task is currently being executed is set to "1", and the value of the soft counter TCTR is increased by one. And in subsequent steps, this soft counter
According to the contents of the TCTR, each task is executed in a predetermined order by referring to the task table described above. The soft counter TCTR has a binary 8-bit output, and has eight outputs from the ²⁰ digit to the ²⁷ digit. Steps 115-0 to 115-7 are
In these steps 115-0 to 115-7, it is determined whether the value of each bit of the counter TCTR is "0" or not. This is done in order from the digit to the highest digit. The determination result in step 115-0 becomes YES every two times the monitor interrupt is performed, and generally becomes YES every 2 ⁿ⁺¹ times in step 115-n. Also, from step 115-0
The reason why all the discrimination results up to 115-7 are NO is because
In other words, each bit of the counter TCTR becomes "1" every ²⁹ times. In steps 115-0 to 115-7, it is determined which level of the task in each task table should be selected.As can be seen from the above description, task levels 0, 1, 0, 2, 0, 1,
0, 3, . . . are selected sequentially. In this way, after the task level selection operation is executed, the columns of the task table are selected, but before explaining this, it is important to note that the address of the task shown in each task table is
We will explain how it is stored and managed in the RAM 6 and the ROM of the microcomputer. FIG. 9 shows the memory structure within the ROM and RAM. In the ROM of the first microcomputer, the addresses of the tasks shown in Table 2 are stored as data in the address area from address A000 to A099 as shown in the figure.
Shown at the top of each column in Table 2 is the number of the task, and in FIG. 9, this number is used to identify the task. Similarly, for the tasks shown in Tables 3 and 4,
Address areas A100 to A199 and A200 in ROM
They are stored in A299 to A299 respectively. In order to manage this address, variables PTR0 to PTR8 are provided in RAM6.
By this variable, any j in Tables 2 to 4
Performs queue management. Additionally, to manage the selection of task tables,
A variable TBLPTR is provided in RAM6, and when TBLPTR is TBLTOP0, the mode 0 table shown in Table 2 is selected.
If TBLPTR is TBLTOP1, select the mode 1 table shown in Table 3 and set TBLPTR to TBLTOP1.
In the case of TBLTOP2, the mode 2 table shown in Table 4 is selected. Further, in order to manage arbitrary i rows of each table, a variable TCTR is provided in the RAM 6, and the i row is specified according to the value of TCTR. The explanation will be given by returning to FIG. 8 again. counter
Based on the value of TCTR, steps 115-0 to 115
It has already been explained that the i-th row of the task table is sequentially specified by -7. Therefore,
Now, the operation of selecting column j when i=1 is selected will be explained. Which of the three task tables mentioned above is selected depends on the contents of TBLPTR determined by the mode determination task. Assuming that it is currently operating in mode 0,
If TBLPTR=TBLTOP0 and PTR1=0, the value of A becomes A010 from FIG. (Step 116-1). The content of address (A010+2) is the address of T0041, so it is different from 0000H (step 117).
-1), therefore, the operation PTR1←+2 is executed (step 118-1). If the content of address A+2 is 0000H, proceed to step 119-1,
PTR1← is assumed to be 0. Once the contents of address A have been determined in this manner, a jump is made to that address (step 120). Therefore, in the above example,
Jump to address T00040 and task T00040
is started and executed (step 121). After that, the flag OL is set to "0" (step 122),
The monitor interrupt will end. In the above,
Although the case where i=1 has been described, since the operation is the same in cases other than i=1, only the reference numerals are given to the other steps and the explanation thereof will be omitted. The above-mentioned monitor interrupt operation is performed every Δt time, and each time a required task is activated and executed according to what is defined in the required task table. The monitor interrupt program of the first microcomputer 4 has been described above. Next, the activation of tasks in the second microcomputer 5 will be described with reference to FIGS. 10 and 11. The second microcomputer 5 stores calculation subroutine programs, and each of these programs is stored in the first microcomputer 5.
It is configured to be started and executed by commands from. In the illustrated embodiment, four calculation subroutine programs shown in Table 5 are prepared, and the calculation processing necessary when the control subroutine program is executed by the first microcomputer 4 is carried out by the second microcomputer 4. It is executed in 5.

[Table] When a certain task is being executed in the first microcomputer 4, first, calculation data necessary for executing the task is searched (step 200). Next, in step 201, the RAM
It is determined whether the command code buffer of 6 is empty or not, and if there is no empty buffer, the counter TCTR is
is subtracted by one (step 202), and the task is completed. Therefore, the same task is activated again at the next monitor interrupt. In this way, the user waits until the buffer area becomes available. If the determination result in step 201 is YES, the command code is transferred to the RAM 6, and the start address ETOP of the block where no data is stored is updated (step 203). Before the data transfer in step 203, it is determined in step 204 whether all buffers were empty (therefore, in the current state, only one buffer stores data).
It is determined in If the determination result is YES,
Since the second microcomputer 5 maintains an idle state, a computation start signal is sent to the second microcomputer 5, and an interrupt NMI is applied to the second microcomputer 5 (step 205). step
If the determination result in step 204 is NO, the processing of the task is ended without executing step 205. The second microcomputer 5 receives an interrupt NMI
By executing this, the empty flag indicating that the buffer is empty is set to 0, indicating that there is data in the buffer (step 301). If the buffers are all empty, the second microcomputer remains in an idle state and does not receive any interrupts.
In response to the empty flag becoming 0 due to NMI (step 302), the first microcomputer 4
A bus request is issued by applying an interrupt NMI to the memory, and the common memory RAM 6 is connected to the second microcomputer 5 via the bus (step 303). That is, the first microcomputer 4 disconnects the bus line 22 due to the interrupt NMI, and thereby the second microcomputer 5 is connected to the RAM 6 via the bus line 22. Note that during this time, the first microcomputer 4 is in a waiting state.
After that, the required data is transferred to the RAM
Read data from address BUFi in 6,
Update BTOP0. (Step 304). That is,
When reading the data of BUFi block,
Set BTOP←BUF(i+1). However, the 11th
As can be seen from the figure, four buffer blocks are linked in a ring shape, so if i+1=4, BTOP←BUF0. In this way, as a result of reading the data, it is determined whether or not the buffer is completely empty (step 305), and if the determination result is YES,
The empty flag is set to "1" (step 306), and the bus line 22 is disconnected (step 307).
In this case, the system waits for an interrupt NMI to be issued again. On the other hand, the determination result of step 305 is
If NO, step 306 is not executed, and the process proceeds to step 307, where only the bus line 22 is disconnected. Next, in step 308, the operation code read from the buffer is decoded, and according to the result, division processing (step 309), two-dimensional interpolation processing (step 310), and three-dimensional interpolation processing (step 311) are performed.
or PID processing (step 312). When the required computation is completed, an interrupt NMI is sent to the first microcomputer 4 again to request the bus (step 313), and the result of the computation is sent to the first microcomputer 4.
Store in data block BUF4 in RAM6,
(Step 314), the process returns to Step 302 and waits for an interrupt NMI to be issued from the first microcomputer 4. As described above, each task is sequentially activated in a predetermined activation cycle and activation order based on a task table that matches the driving state of the vehicle at that time, and the required control subroutine program that constitutes each task is activated. is the first microcomputer 4
The second microcomputer 5 executes subroutines for calculations required at that time. By sequentially executing each task as described above, desired vehicle control is achieved. Effects According to the present invention, one or more unit programs are executed according to the selected execution pattern each time a request signal is generated, and as a result, each unit program is reliably executed at the required frequency. It will be executed and the execution will be completed by the time the next request signal is generated. Furthermore, since a plurality of execution patterns are prepared depending on the driving state of the vehicle, one set of data selected according to the driving state by the selection means can be used to execute the unit program necessary for that driving mode. Can be executed frequently. Therefore, there is no need to make any changes to the monitor program, so the wasted time of the monitor does not increase at all, the number of tasks that can be loaded can be significantly increased, and the program can be prevented from becoming complicated. As a result, appropriate control according to the driving state of the vehicle can be easily performed, and an efficient vehicle control device can be constructed.

[Brief explanation of drawings]

FIG. 1 is a schematic configuration diagram showing the basic concept of the present invention,
FIG. 2 is an overall configuration diagram of a control system of an embodiment of a vehicle control device according to the present invention, FIG. 3 is a program configuration diagram of the first microcomputer shown in FIG. 2, and FIGS. b is a waveform diagram of the device shown in Fig. 2, Fig. 5 is a program configuration diagram of the second microcomputer shown in Fig. 2, and Fig. 6 is a waveform diagram of the device shown in Fig. 2.
A control system diagram showing the contents of control executed by a microcomputer, FIG. 7 is a control subroutine showing a control subroutine program for performing control calculations for each part of the control system shown in FIG. 6 in comparison with FIG. An explanatory diagram of the program; FIG. 8 is a detailed flowchart of the monitor interrupt program shown in FIG. 3; FIG. 9 is a diagram showing the memory structure in each memory of the device shown in FIG. 2; FIG. Second
FIG. 11 is a flowchart of the first and second microcomputers for explaining the operations of the microcomputers, and FIG. 11 is a diagram showing the memory structure for explaining the operations of the first and second microcomputers. 1,400... Vehicle control device, 4... First microcomputer, 5... Second microcomputer, 6... Random access memory (RAM),
401...Storage device, 402...Memory means, 403
...Selection means, 404...Start request generation means, 405
...Calculating means.

Claims (1)

[Claims] 1. A control program for controlling a vehicle device is divided into a plurality of unit programs, and the vehicle is controlled by selectively executing the unit programs in accordance with intermittent activation requests. A vehicle control device configured to include a start request generating means for intermittently issuing a request signal for a start request at least at a predetermined fixed time interval, and a start request generating means configured such that the time required for execution is shorter than the fixed time period. Data related to an execution pattern that determines the execution frequency of each predetermined program based on the activation cycle required for each of a plurality of programs consisting of one or more predetermined unit programs corresponds to the driving mode of the vehicle. a memory means storing a plurality of sets of data; a selection means for detecting the driving mode of the vehicle and selecting one set of data corresponding to the detection result; and a selection means selected by the selection means each time the request signal is issued. means for executing one required program according to an execution pattern according to the selected set of data, and the unit program is repeatedly executed according to the execution pattern indicated by the selected set of data. A vehicle control device featuring: