JP2001175494A - System and method for doubly diagnosing normality of arithmetic processing of microprocessor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for doubly diagnosing the normality of the arithmetic processing of a microprocessor, in which the costs of a sub-processor can be reduced without being affected by the input error of each processor. SOLUTION: A main processor 1 compares an arithmetic processed result, using the input data of an input data area 111 for diagnosis with the expected output data of an expected output data area 112 for diagnosis, and transmits the arithmetic processed result to a sub-processor 2. The sub-processor 2 compares the arithmetic processed result with the expected output data of an expected output data area 212 for diagnosis.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a method for diagnosing a microprocessor (hereinafter referred to as "processor"), and more particularly, to a method for diagnosing one microprocessor with two microprocessors.
The present invention relates to a method and a method for diagnosing two microprocessors twice. This method and method are particularly applicable to vehicle ABS (a
Used in systems requiring high reliability, such as nti-lock brake system).

[0002]

2. Description of the Related Art Conventionally, mutual monitoring by a dual processor configuration is often performed for the purpose of processor diagnosis.

In such a mutual monitoring system having a dual processor configuration, both the main processor and the sub-processor receive input signals such as an external wheel speed signal and an analog signal from a potentiometer.
The main processor and the sub-processor respectively execute the control program based on the input signal, communicate the operation results from one to the other or mutually, compare the operation results of both, and if they do not match, the main processor or the sub-processor. Stop the system assuming that an error has occurred in the processor.

[0004]

However, this prior art has the following problems.

The first problem is that the same operation is executed by the main processor and the sub-processor. Therefore, a sub-processor having the same function and performance as the main processor must be used as a sub-processor used for diagnosis. Must be expensive.

A second problem is that when the input signal is fetched, the main processor and the sub-processor each have a fetch error, so that the input data of the main processor and the sub-processor are not always equal, and the execution result of the control program is not always equal. Strict comparison judgment cannot be performed in the comparison of.

A main object of the present invention is to provide a microprocessor diagnosis method which solves the above problems.

[0008]

According to the present invention, there is provided a method for double-diagnosing the normality of arithmetic processing of a microprocessor according to the present invention.
A first microprocessor and a second microprocessor that are the microprocessors, wherein the first microprocessor correctly processes the diagnostic input data and the diagnostic input data of the arithmetic processing by the arithmetic processing; A first storage unit for holding expected output data that would be obtained if so, a unit for giving the diagnostic input data stored in the first storage unit to the arithmetic processing, and executing the arithmetic processing Means for comparing the actual output data obtained as a result of the execution of the arithmetic processing with the expected output data stored in the first storage means; and Means for outputting the expected output data to the microprocessor, wherein the second microprocessor holds the expected output data, Means for inputting the actual output data from the microprocessor, and second comparing means for comparing the input actual output data with the expected output data stored in the second storage means. Features.

Further, the method of diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is a method of diagnosing the normality of the arithmetic processing of the microprocessor doubly. However, it is characterized by further comprising means for performing an abnormality process when the comparison result by the first comparing means does not match.

Further, the method for double-diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is the method for double-diagnosing the normality of the arithmetic processing of the microprocessor as described above. However, the apparatus further comprises means for performing an abnormality process when the comparison result by the second comparing means does not match.

Further, a system for double-diagnosing the normality of the arithmetic processing of a microprocessor according to the present invention comprises a first microprocessor and a second microprocessor as the microprocessor, and the first microprocessor First storage means for holding expected output data that would be obtained if the diagnostic input data of the arithmetic processing were correctly processed by the arithmetic processing; and the diagnostic input data from the second microprocessor. Means for inputting data; means for providing the input diagnostic input data to the arithmetic processing; means for executing the arithmetic processing; and actual output data obtained as a result of the execution of the arithmetic processing in the first storage. Means for comparing the expected output data stored in the means with the expected output data;
Means for outputting the diagnostic input data and the expected output data, and the second microprocessor stores the diagnostic input data and the expected output data in the first microprocessor. Means for outputting input data; means for inputting the actual output data from the first microprocessor; and comparing the input actual output data with the expected output data stored in the second storage means. And a second comparing means.

Further, the method of diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is a method of diagnosing the normality of the arithmetic processing of the microprocessor twice. However, it is characterized by further comprising means for performing an abnormality process when the comparison result by the first comparing means does not match.

Further, the method of double-diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is the method of double-diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention. However, the apparatus further comprises means for performing an abnormality process when the comparison result by the second comparing means does not match.

According to the present invention, there is provided a method of diagnosing the normality of the arithmetic processing of a microprocessor, wherein the first microprocessor, which is the microprocessor, includes a diagnostic input data for the arithmetic processing and a diagnostic input data. A first storage step for holding expected output data that would be obtained if the processing was correctly performed by the arithmetic processing, and a second storage step for holding the expected output data by a second microprocessor; A step in which the first microprocessor gives the diagnostic input data stored in the first storing step to the arithmetic processing; a step in which the first microprocessor executes the arithmetic processing; The first microprocessor records actual output data obtained as a result of the execution of the arithmetic processing in the first storage step. A first comparing step of comparing the actual output data to the second microprocessor, and a first comparing step of comparing the actual output data to the second microprocessor. Inputting the actual output data from a first microprocessor, and the second microprocessor comparing the input actual output data with the expected output data stored in the second storage step.
And a comparing step.

The method of diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is a method of diagnosing the normality of the arithmetic processing of the microprocessor in the first comparison step. When the result of the comparison at step 1 does not match, the first microprocessor
The method further comprises the step of performing an abnormality process.

Further, the method for double-diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is the method for double-diagnosing the normality of the arithmetic processing of the microprocessor according to the second aspect of the present invention. When the result of the comparison at step 2 does not match, the second microprocessor
The method further comprises the step of performing an abnormality process.

Further, in the method of double diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention, the first microprocessor, which is the microprocessor, comprises:
A first storage step for holding expected output data that would be obtained if the diagnostic input data of the arithmetic processing was correctly processed by the arithmetic processing, and a second microprocessor configured to store the diagnostic input data A second storage step of holding the expected output data, a step of the second microprocessor outputting the diagnostic input data to the first microprocessor, and a step of the first microprocessor Inputting the diagnostic input data from the second microprocessor, the first microprocessor providing the input diagnostic input data to the arithmetic processing, and the first microprocessor Executing a process, wherein the first microprocessor obtains a result of the execution of the arithmetic process. A first comparing step of comparing actual output data with the expected output data stored in the first storage step, wherein the first microprocessor outputs the actual output data to the second microprocessor Step, the second microprocessor inputs the actual output data from the first microprocessor, the second microprocessor,
A second comparing step of comparing the input actual output data with the expected output data stored in the second storing step.

Further, the method of double diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is the method of double diagnosing the normality of the arithmetic processing of the microprocessor according to the first comparison step. When the result of the comparison at step 1 does not match, the first microprocessor
The method further comprises the step of performing an abnormality process.

Further, the method for double-diagnosing the normality of the arithmetic processing of the microprocessor according to the present invention is the method of double-diagnosing the normality of the arithmetic processing of the microprocessor according to the second aspect of the present invention. When the result of the comparison at step 2 does not match, the second microprocessor
The method further comprises the step of performing an abnormality process.

Referring to FIG. 1, the main parts of the ABS including the dual processor to be subjected to the dual processor diagnosis method according to the present invention include a wheel speed signal input circuit 3, a potential signal input circuit 4, and an actuator output circuit 5. , A main processor 1 and a sub processor 2, and an external input signal is supplied to the main processor 1 via a wheel speed signal input circuit 3 and a potential signal input circuit 4.
, And a control signal is output from the main processor 1 and the sub-processor 2 to the actuator output circuit 5. The main processor 1 and the sub-processor 2 are connected by a communication line 6.

This diagnostic method is started when the control is not affected, such as when the system is started or when the vehicle is stopped. In this diagnostic method, the main processor 1 uses the diagnostic input data stored in the diagnostic input data area 111 in the ROM 11 of the main processor 1 instead of an external input signal to control the control stored in the ROM 11. The program is executed to obtain a calculation result, and the calculation result is transmitted to the sub-processor 2, and the calculation result is compared with the expected output data stored in the diagnostic output expected value data area 112 in the ROM 11 of the main processor 1. A match is determined and an abnormality of the main processor 1 is determined. On the other hand, the sub processor 2 determines whether the operation result transmitted from the main processor 1 matches the expected output data stored in the expected output value data area for diagnosis 212 in the ROM 21 of the sub processor 2 and determines whether the processor 2 is abnormal. judge.

According to the present invention, the reliability of the operation of the main processor can be enhanced by the self-diagnosis of the main processor by the main processor. Further, since the sub-processor diagnoses the main processor, an abnormality that cannot be detected by the main processor by self-diagnosis can be detected, and the reliability of the operation of the main processor can be further improved. Also, because not only the sub-processors diagnose the main processor,
Even when the abnormality cannot be detected by the diagnosis by the sub-processor, the abnormality by the self-diagnosis by the main processor can be detected, so that the reliability of the operation of the main processor can be improved. An abnormality that can be detected by the diagnosis by one processor but not by the diagnosis of the other processor includes an execution error of some instructions in the other processor.

Further, even if the sub processor 2 is not supplied with an external input signal and the sub processor 2 does not perform the same operation as the main processor 1, it is possible to confirm the certainty of the operation of the processor 1. This makes it possible to use an inexpensive processor as the sub-processor 2.

Furthermore, there is no need to consider the difference in the input signal fetch error between the main processor 1 and the sub-processor 2, and it is possible to make a strict coincidence determination with respect to the result of diagnosis.

[0025]

[Embodiment 1] Referring to FIG. 1, an AB including a dual processor to be subjected to a dual processor diagnosis method according to an embodiment of the present invention is described.
The control unit of S includes a main processor 1, a sub-processor 2, a wheel speed signal input circuit 3, a potentiometer signal input circuit 4, and an actuator output circuit 5. The ROM 11 in the main processor 1 has a storage area 111 for input data for diagnosis used for diagnosis and a storage area 112 for expected output data for diagnosis. The ROM 21 in the sub-processor 2 has a storage area 2 for the expected output data for diagnosis.
12. Here, one or more sets of diagnostic input data and expected diagnostic output data are stored in the diagnostic input data storage area 111, the expected diagnostic output data storage area 112, and the diagnostic expected output data area 212. The set is used to simulate a specific control state of the ABS. In the ABS, a simulation target includes a state in which ABS control is performed and a state in which ABS control is not performed.

The wheel speed signal input circuit 3, the potential signal input circuit 4, and the actuator output circuit 5 input and output signals of two systems, but assume an ABS for controlling the front and rear wheels of the motorcycle. Because.

FIG. 2 shows that the main processor 1 has a ROM 11
4 is a flowchart showing a process for an original ABS and a process of a diagnosis method performed by executing a program stored in the system. The processing for ABS includes a signal input processing 202 for taking in signals input from the wheel speed signal input circuit 3 and the potentiometer signal input circuit 4, and a predetermined operation using input variables, operation work variables, output variables, and the like. Operation processing 206 for executing and generating output variables of various operation results
And an output process 209 for outputting a control signal to the actuator output circuit 5 with reference to the operation result. The processing of the diagnosis method includes a diagnosis execution determination process 203 for determining the execution conditions of the diagnosis, and data necessary for the arithmetic processing 206 when the execution of the diagnosis is permitted is stored in the diagnosis input data area 111. A diagnostic data writing process 205 for rewriting to input data, and a determination as to whether an output variable of an arithmetic process 206 executed based on the diagnostic input data matches the expected diagnostic output data stored in the expected diagnostic output data area 112. A diagnostic output comparison process 208 is provided.

FIG. 3 is a flow chart showing the processing of the diagnostic system performed by the sub-processor 1 executing the program stored in the ROM 21. The processing of the diagnostic method is started when an output variable for performing the diagnosis is received from the main processor 1 (YE in step 302).
S), a diagnostic output comparison process 303 for determining whether the received output variable matches the expected diagnostic output data stored in the expected diagnostic output value data area 212, and an actuator output if no abnormality is detected. The circuit 5 includes an output permission process for outputting an output permission signal to the circuit 5.

Here, the output variables are variables generated by executing the program, and the variables used for determining the coincidence with the expected output data are all or a part of the output variables.

As for the match determination, in ABS, A
As a result of determining whether or not to perform control by the BS, determination based on output variables such as a control amount of the actuator and a slip ratio can be considered.

Next, the operation of this embodiment will be described.

First, the operation of the main processor 1 will be described with reference to the flowchart of FIG. When execution of a program is started by turning on the power, first, system initialization is performed to set processor operation, initialize variables, and the like (step 201).

Subsequently, the operation shifts to an operation by executing the main body of the ABS control and diagnosis program. First, signal input processing is performed, and input signals are taken in from the wheel speed signal input circuit 3 and the potentiometer signal input circuit 4. (Step 2
02).

Next, a diagnosis execution determination is made, and it is determined whether or not the execution of the diagnosis does not affect the system immediately after the power is turned on or when the vehicle is stopped. A decision is made (step 203).

Next, it is determined whether the execution of the diagnosis is permitted (step 204). If the execution is permitted, the process proceeds to a diagnostic writing process 205, and if not, the process proceeds to an arithmetic process 206.

When the diagnosis is not permitted, the normal AB
Since the flow of the S control is performed, the case where the diagnosis is permitted will be described here. If the diagnosis is permitted, a diagnostic data writing process (step 205) is performed, and a variable saving process is first performed, and data that is inconvenient if rewritten along with the execution of the diagnosis is saved (step 205). 205
1). Next, a diagnostic input data selection process is performed, and predetermined diagnostic input data is selected from the diagnostic input data area 111 (step 2052). Next, diagnostic input data writing processing is performed, and the selected diagnostic input data is written to the RAM 12 or the register 13 of the variables necessary for executing the arithmetic processing by the diagnosis (step 205).
3).

When the diagnostic data writing process (step 205) is completed in this way, the calculation process is subsequently performed in the same manner as in the normal control, and the slip ratio calculation and A
BS control determination, actuator control amount calculation, and the like are executed, and output variables are generated in the RAM 12 or the register 13 as the execution results (step 206).

Subsequently, the diagnosis-in-progress determination processing is executed (step 207). Since the diagnosis is being performed here, the diagnosis output comparison processing is subsequently executed (step 208). In the diagnostic output comparison processing, first, output data transmission processing for transmitting selection information as to which data is selected as diagnostic input data and the generated output variables to the sub-processor is performed (step 2081). Next, expected output data selection processing for selecting expected output data corresponding to the selected diagnostic input data is performed (step 2082). Next, it is determined whether the output variable obtained in the arithmetic processing (step 206) matches the expected output data (step 2083), and if they do not match, a processor abnormality processing is performed (step 2086). Here, the processing when the processor is abnormal means that the operation of the actuator is stopped,
Processing such as resetting the data.

In the case of a match, it is determined that the variable is normal. Subsequently, a variable initialization process is performed, and among variables rewritten by the execution of the diagnosis, a variable that is inconvenient if brought in after the next loop is initialized. Perform (step 2084). Subsequently, a process of restoring a save variable for restoring the data saved at the start of the diagnosis (step 2085) is performed.

Next, the output processing (step 209) is performed. Since the variables referred to in the output processing are returned to the data saved at the start of the diagnosis or the initial values regardless of the result of the diagnosis, the diagnosis is performed. Is not output.

Next, the operation of the sub processor 2 will be described.
This will be described with reference to the flowchart of FIG.

When execution of a program is started by turning on the power, system initialization is first performed to set processor operation, initialize variables, and the like (step 301).

Subsequently, the operation shifts to an operation based on the execution of the diagnostic program body, and it is determined whether or not an output variable based on the diagnostic execution has been received from the main processor 1 (step 302). The communication system program is executed in parallel with the operation shown in FIG. 3, and setting of a flag for notifying reception and writing of the received selection information and output variables to the RAM 22 or the register 23 are executed by the execution of the communication system program. It is performed by

When the diagnosis is not being performed, since the output variable has not been received, the process proceeds to an output permission process, and outputs an active value output permission signal to the actuator output circuit (step 304). The output permission signal is used in the actuator output circuit 5, and when the output permission signal takes an inactive value, even when the signal input to the actuator output circuit 5 from the main processor 1 takes a value for driving the actuator, The output value of the actuator output circuit 5 is a value for stopping the actuator. The output permission processing 304 is included in the loop of steps 302 to 304 in order to cope with a situation in which the value of the output permission signal, which has been an active value, accidentally becomes an inactive value due to noise or the like. .

When the diagnosis is executed and the output variable is received, a diagnosis output comparison process (step 303) is executed.
In the diagnosis output comparison process, first, the expected output data selection process selects the expected output data corresponding to the diagnosis input data selected at the time of executing the diagnosis, based on the selection information received together with the output variables (step 3031). . Subsequently, it is determined whether or not the received output variable matches the expected output data (step 3032), and if they do not match, a processor abnormality process is performed (step 3033). Here, the processing at the time of the processor abnormality includes processing such as stopping the operation of the actuator and resetting the processors 1 and 2. If they match, it is determined to be normal, and the process proceeds to the output permission process, and outputs an output permission signal to the actuator output circuit.

[Second Embodiment] The basic configuration of a second embodiment of the present invention is the same as that of the first embodiment, except that the diagnostic input data area 111 is removed and the diagnostic input data area is stored in the ROM 21 instead. The point provided with 211 is different from that of the first embodiment.

The operation of the ABS control and diagnostic system using this configuration is as shown in FIG. 5 for the main processor 1B and FIG. 6 (sub-processor 2) for the sub-processor 2B. The same processes as those in the first embodiment are denoted by the same reference numerals, and duplicate description will be omitted.
Only the processing different from the above will be described below.

If the diagnosis is permitted (YES in step 204), a processing for requesting input data for diagnosis is performed, and a data request is transmitted to the sub-processor 2 (step 50).
5). On the other hand, when the sub processor 2 receives the data request (YES in step 602), the diagnostic input data transmission process is started, and the diagnostic input data area 2 in the ROM 21 is activated.
11, predetermined data is selected and transmitted to the main processor 1 (step 603). After receiving the diagnostic input data, the main processor 1 starts a diagnostic data writing process (step 506).

As described above, in the second embodiment, an effect is obtained that the portion of the capacity of the ROM 11 of the main processor 1B allocated to the diagnostic input data area can be reduced. In the main processor, a control program, data necessary for control, and the like are stored in the ROM 11, so that it may be impossible to store diagnostic input data in some cases. On the other hand, in the sub-processor, since only the diagnostic program and its data are stored in the ROM 21, it is conceivable that the capacity is sufficient. In such a case, diagnosis can be performed by applying the second embodiment.

In the first and second embodiments, the processor abnormality processing 2086, 3033, 5096, and 6053 may be performed by turning on or blinking an indicator to give an alarm to the outside.

[0051]

As described above, since the input data used for performing the diagnosis is read from the ROM, the control program can be executed by the diagnosis without being affected by the error of the signal input circuit or the error of the processor. This makes it possible to strictly compare data in bit units when determining output variables. Further, since the output obtained by the diagnosis is predetermined, there is no need to execute the operation from the input signal in the sub-processor.
It is only necessary to have the output comparison determination value in M.

Therefore, an inexpensive processor without a capture (hardware for measuring a pulse period), an A / D converter, or the like can be employed in the subprocessor, and a more accurate diagnosis of program execution can be performed. .

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a method for diagnosing the normality of arithmetic processing of a microprocessor according to a first embodiment of the present invention twice;

FIG. 2 is a flowchart illustrating a process performed by a main processor 1 of FIG. 1;

FIG. 3 is a flowchart illustrating a process performed by a sub-processor 2 of FIG. 1;

FIG. 4 is a block diagram showing a configuration of a system for diagnosing the normality of arithmetic processing of a microprocessor in a second embodiment according to the present invention;

FIG. 5 is a flowchart illustrating a process performed by a main processor 1B of FIG. 4;

FIG. 6 is a flowchart showing a process performed by a sub-processor 2B of FIG. 4;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 main processor 2 sub-processor 3 wheel speed signal input circuit 4 potential signal input circuit 5 actuator output circuit 6 communication line 11 ROM 12 RAM 13 register 21 ROM 22 RAM 23 register 111 diagnostic input data area 112 diagnostic expected output data area 211 Input data area for diagnosis 212 Expected output data area for diagnosis

Claims (12)

[Claims] 1. A method for diagnosing the normality of arithmetic processing of a microprocessor in a double manner, comprising: a first microprocessor and a second microprocessor, which are the microprocessors; First storage means for holding diagnostic input data for arithmetic processing and expected output data that would be obtained if the diagnostic input data were correctly processed by the arithmetic processing; and stored in the first storage means Means for providing the input data for diagnosis to the arithmetic processing, means for executing the arithmetic processing, and actual output data obtained as a result of the execution of the arithmetic processing are stored in the first storage means. First comparing means for comparing with the expected output data, and means for outputting the actual output data to the second microprocessor, A second microprocessor configured to store the expected output data; a second storage unit configured to store the expected output data; a unit configured to input the actual output data from the first microprocessor; And a second comparing means for comparing the expected output data stored in the storage means with the expected output data. 2. The method according to claim 1, wherein the first microprocessor does not match the result of the comparison by the first comparing means. A method for double-diagnosing the normality of the arithmetic processing of the microprocessor, characterized by further comprising means for performing abnormal processing. 3. The method according to claim 1, wherein the second microprocessor performs a double diagnosis on the normality of the arithmetic processing of the microprocessor when the comparison result obtained by the second comparison means does not match. A method for double-diagnosing the normality of the arithmetic processing of the microprocessor, characterized by further comprising means for performing abnormal processing. 4. A system for diagnosing the normality of arithmetic processing of a microprocessor in a double manner, comprising: a first microprocessor and a second microprocessor as the microprocessor, wherein the first microprocessor is First storage means for holding expected output data that would be obtained if the diagnostic input data of the arithmetic processing were correctly processed by the arithmetic processing; and inputting the diagnostic input data from the second microprocessor Means for providing the input data for diagnosis to the arithmetic processing, means for executing the arithmetic processing, and actual output data obtained as a result of execution of the arithmetic processing stored in the first storage means. First comparing means for comparing the output data with the expected output data, and the actual output data to the second microprocessor. And a second storage means for holding the diagnostic input data and the expected output data; and outputting the diagnostic input data to the first microprocessor. Means for inputting the actual output data from the first microprocessor; and a second comparison for comparing the input actual output data with the expected output data stored in the second storage means. Means for diagnosing the normality of the arithmetic processing of the microprocessor in a double manner. 5. The method according to claim 4, wherein the first microprocessor performs a double diagnosis on the normality of the arithmetic processing of the microprocessor when the comparison result obtained by the first comparison means does not match. A method for double-diagnosing the normality of the arithmetic processing of the microprocessor, characterized by further comprising means for performing abnormal processing. 6. The method according to claim 4, wherein the second microprocessor performs double diagnosis on the normality of the arithmetic processing of the microprocessor when the comparison result by the second comparison means does not match. A method for double-diagnosing the normality of the arithmetic processing of the microprocessor, characterized by further comprising means for performing abnormal processing. 7. A method for diagnosing the normality of arithmetic processing of a microprocessor in a double manner, wherein the first microprocessor, which is the microprocessor, has a function of diagnosing input data of the arithmetic processing and input data for diagnosis. A first storage step of holding expected output data that would be obtained if the processing was correctly performed by the arithmetic processing; a second storage step of holding a second microprocessor by holding the expected output data; A first microprocessor providing the diagnostic input data stored in the first storage step to the arithmetic processing; a step of the first microprocessor executing the arithmetic processing; One microprocessor stores actual output data obtained as a result of execution of the arithmetic processing in the first storage step. A first comparing step of comparing with the expected output data obtained, a step of the first microprocessor outputting the actual output data to the second microprocessor, and a step of the second microprocessor Inputting the actual output data from a first microprocessor, and the second microprocessor comparing the input actual output data with the expected output data stored in the second storage step. A method of double diagnosing the normality of arithmetic processing of a microprocessor, comprising: 8. The method according to claim 7, wherein the first comparison step is performed when the comparison result in the first comparison step is inconsistent. A method for double-diagnosing the normality of arithmetic processing of a microprocessor, further comprising a step of performing abnormal processing by the processor. 9. The method for diagnosing the normality of the arithmetic processing of a microprocessor according to claim 7, wherein the second microprocessor is configured to execute the second microprocessor when the comparison result in the second comparison step does not match. A method for double-diagnosing the normality of arithmetic processing of a microprocessor, further comprising a step of performing abnormal processing by the processor. 10. A method for diagnosing the normality of arithmetic processing of a microprocessor in a double manner, wherein the first microprocessor, which is the microprocessor, corrects the diagnostic input data of the arithmetic processing by the arithmetic processing. A first storage step of holding expected output data that would be obtained if the second processing was performed; a second storage step of holding a second microprocessor with the diagnostic input data and the expected output data; A second microprocessor outputting the diagnostic input data to the first microprocessor; and the first microprocessor inputting the diagnostic input data from the second microprocessor. The first microprocessor gives the input data for diagnosis inputted to the arithmetic processing. The first microprocessor executes the arithmetic processing, and the first microprocessor stores the actual output data obtained as a result of the execution of the arithmetic processing in the first storing step. A first comparing step of comparing with the stored expected output data; a step of the first microprocessor outputting the actual output data to the second microprocessor; and a step of: A step of inputting the actual output data from the first microprocessor; and a step of comparing the input actual output data with the expected output data stored in the second storage step. 2. A dual diagnosis of the normality of the arithmetic processing of the microprocessor, characterized by comprising: Method. 11. The method for double-diagnosing the normality of arithmetic processing of a microprocessor according to claim 10,
When the comparison result in the first comparison step does not match, the first microprocessor further includes a step of performing an abnormal process. How to diagnose. 12. The method according to claim 10, wherein the normality of the arithmetic processing of the microprocessor is double-diagnosed.
When the comparison result in the second comparison step does not match, the second microprocessor further includes a step of performing an abnormal process. How to diagnose.