JP2002158664A - Vehicle control system - Google Patents

Abstract

(57) [Summary] [Problem] To easily change the system such as updating or improving the system. SOLUTION: ECU 17 of a vehicle control system 10
A cooperative control ECU 21 forming a server device, a plurality of subsystems forming a client device mutually connected to the cooperative control ECU 21 via a network 51, that is, a motor control ECU 22, and a reactive gas supply control ECU
23, a power distribution control ECU 24, and a cell voltage detection control EC
U25. Each of the ECUs 22,..., 25 constituting each subsystem performs I / O processing for a control signal transmitted to and received from the cooperative control ECU 21, and controls evacuation processing and protection operation in the event of an abnormality such as a network stop. . The cooperative control ECU 21 includes the ECUs 22,
, 25 and a control operation for controlling each of the ECUs 22,..., 25 and the control target is performed based on the control signals obtained by the I / O processing.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a vehicle, in which a plurality of control devices are interconnected to perform a cooperative operation.

[0002]

2. Description of the Related Art As disclosed in, for example, Japanese Patent Application Laid-Open No. 7-7504, an in-vehicle LAN in which a plurality of electronic control units mounted on a vehicle are interconnected has been known. In this in-vehicle LAN, a plurality of electronic control units (ECUs) send sensor data to one control operation communication unit, and the control operation communication unit performs an operation based on the received data and controls each electronic control unit. A so-called server-client network that returns signals is formed.

[0003]

By the way, in an in-vehicle LAN according to an example of the prior art, when an electrical component such as an actuator connected to a plurality of electronic control units is changed, the control target is changed. The type of the operation command value output for instructing the operation may also be changed. Accordingly, when the processing content of each electronic control device is changed, particularly when a plurality of electronic control devices are controlled to operate in a coordinated manner, other electronic control devices whose control targets are not changed There is a possibility that the processing contents of the device must be changed. In addition, since the control signal for controlling the operation of the controlled object is calculated by the control arithmetic communication unit, the control arithmetic communication unit reads and reads various data output from the changed controlled object. In addition, it is necessary to newly provide a conversion means for converting received data into a predetermined variable format used for the control operation, or to change the content of the control operation according to the format of the received data. May occur.

Particularly, in a system such as a fuel cell vehicle in which the number of types of control signals transmitted and received between a control operation communication unit, a plurality of electronic control units, and a control target increases, the control target If the types of these control signals are changed along with the change of the control signal, there is a problem that updating and improving the control system requires a complicated work.
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a control system for a vehicle that can easily update or improve the system.

[0005]

In order to solve the above-mentioned problems and to achieve the above object, a vehicle control system according to the present invention includes a control target (for example, a control object according to the present embodiment described later). Traveling motor drive unit 11, fuel cell 12, reaction gas supply unit 13, power storage device 14, power distribution unit 15, cooling unit 1
6, 16) connected to a control device (for example, a motor control EC according to the present embodiment described later) forming a plurality of subsystems.
U22, reaction gas supply control ECU23, power distribution control ECU
24, a cell voltage detection control ECU 25) and a cooperative control device (for example, a cooperative control ECU 21 in the present embodiment described later) that cooperates the plurality of control devices with a communication line (for example, in the present embodiment described later). Network 51)
A plurality of control devices, wherein the plurality of control devices perform input / output processing on signals transmitted and received between the cooperative control device and the control target. (For example, an I / O processing unit 71a in the present embodiment described later), and the cooperative control device includes:
Based on the received signals received from the plurality of control devices,
It is characterized by including a control arithmetic unit (for example, an MPU 61 in the present embodiment described later) for calculating a control signal for controlling the operation of the plurality of control devices and the control target.

According to the vehicle control system having the above configuration,
In each of the plurality of control devices controlled to perform the cooperative operation, a portion that performs a control operation for calculating a control signal for the operation of the control target, and is transmitted and received between the plurality of control devices and the cooperative control device and the control target. And input / output control means for performing input / output processing (I / O processing) of control signals. Then, a portion for performing each control operation of the plurality of control devices is collectively stored in the server device, that is, the cooperative control device, and only the input / output control unit is left in each subsystem that forms the client device, that is, the plurality of control devices. For example, it is arranged near the control target. As a result, for example, even if a portion corresponding to the control operation of any of the subsystems is changed, only the processing content of the cooperative control device needs to be changed. Further, even when the input / output control means is changed due to a change in the control target, only the input / output control means of the target control device needs to be changed, and the change to other control devices is suppressed. Accordingly, changes such as updating and improvement of the vehicle control system can be easily performed.

Further, in the vehicle control system according to the present invention, the control operation means of the cooperative control device may be configured so that the control signal for controlling the operations of the plurality of control devices and the control target includes: A control physical quantity (for example, a logical value in the present embodiment described later, for example, a required torque value, a motor output, a flow rate and a pressure of a reaction gas, etc.) to be achieved by the operation of the plurality of control devices and the control target is calculated. ,
The input / output control means of the control device is an operation command value that directly instructs the control device and the control target to operate the control physical quantity received from the cooperative control device (for example,
A control value in the present embodiment described later, for example, the traveling motor 3
(1) an AC voltage command value to be output to the PDU 32 for controlling the drive of the air compressor 41, a control signal for ensuring a desired rotational speed to the air compressor 41, and a control signal for controlling the valve opening of the exhaust pressure valve 46). And

According to the vehicle control system having the above configuration,
The control signal transmitted and received between the cooperative control device, the plurality of control devices, and the control target is a control physical amount including, for example, a general-purpose physical amount or an abstract control value, and, for example, an appropriate control target is changed. Even in this case, the control physical quantity output from the cooperative control device does not need to be changed, and only the input / output control means of the control device to which the control target is connected needs to be changed. That is, the input / output control means converts the control physical quantity received from the cooperative control device into an operation command value corresponding to each control target. This makes it possible to easily change or update the control system for the vehicle without changing the content of the control calculation in the cooperative control device.

Further, in the vehicle control system according to the present invention, the plurality of control devices may be configured such that when the communication system with the coordination control device or the coordination control device is abnormal, the coordination control device is not used. And an autonomous control unit (for example, an autonomous control unit 71b in the present embodiment described later) that controls the operation of the control object independently of the control object.

According to the vehicle control system having the above configuration,
For example, even when the communication system is stopped or an abnormality such as a malfunction of the cooperative control device occurs, it is possible to prevent erroneous control from being performed on the control target or perform a protection operation of the control target. It is possible to prevent the control target from being damaged.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle control system according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a configuration diagram of a vehicle control system 10 according to an embodiment of the present invention, FIG. 2 is a configuration diagram of a fuel cell vehicle 1 including the vehicle control system 10 shown in FIG. 1, and FIG. FIG. 4 is a functional block diagram of the cooperative control ECU 21;
Is a functional block diagram of each of the ECUs 22,..., 25 constituting a plurality of subsystems.

The fuel cell vehicle 1 according to the present embodiment includes, as a power supply device for supplying electric power to the driving motor drive unit 11, for example, a hybrid including a fuel cell 12, a reaction gas supply unit 13, and a power storage device 14. The power of the traveling motor drive unit 11 to which power is supplied from these power supply devices via the power distribution unit 15 is:
The power is transmitted to the drive wheels W via a transmission (not shown) including an automatic transmission or a manual transmission. When the fuel cell vehicle 1 is decelerated, the driving motor drive unit 11
When the driving force is transmitted to the side, the traveling motor drive unit 11 functions as a generator, generates a so-called regenerative braking force, and recovers the kinetic energy of the vehicle body as electric energy.

Vehicle control system 1 according to the present embodiment
0 is, for example, the driving motor drive unit 11 and the fuel cell 1
2, a reaction gas supply unit 13, a power storage device 14, a power distribution unit 15, cooling units 16 and 16, and an ECU 17. Further, the ECU 17 includes a cooperative control ECU 21 forming a so-called server device, and a plurality of subsystems forming a so-called client device, for example, a motor control ECU 22, a reactive gas supply control ECU 23, a power distribution control ECU 24, and a cell voltage detection control ECU 25. It is provided with.

As shown in FIG. 2, the driving motor driving unit 1
Reference numeral 1 denotes a traveling motor 31 which is a permanent magnet type three-phase AC synchronous motor using a permanent magnet as a field, for example, and a PD
U32, and the traveling motor 31 has a PDU
The drive is controlled by three-phase AC power supplied from the power supply 32. The PDU 32 includes, for example, a PWM inverter composed of a switching element such as an IGBT. The PDU 32 receives a switching command output from the motor control ECU 22 and outputs a signal from the fuel cell 12 and the power storage device 14 to the power distribution unit 15.
Is converted into three-phase AC power and supplied to the traveling motor 31.

The fuel cell 12 has a structure in which a solid polymer electrolyte membrane made of, for example, a solid polymer ion exchange membrane is sandwiched between an anode and a cathode from both sides.
The fuel cell system includes a stack formed by stacking a plurality of cells, and includes a hydrogen electrode to which hydrogen gas is supplied as a fuel and an air electrode to which air containing oxygen as an oxidant is supplied. And the hydrogen ions generated by the catalytic reaction at the anode,
Moving through the solid polymer electrolyte membrane to the cathode,
The cathode generates an electrochemical reaction with oxygen to generate power.

The reactant gas supply unit 13 includes an air supply unit 13a for supplying air to the air electrode of the fuel cell 12, and a hydrogen supply unit 13b for supplying hydrogen gas to the hydrogen electrode. Further, the air supply unit 13a includes an air compressor 41, a motor 42 for driving the air compressor 41, and a driver 43 for the motor 42. Further, the hydrogen supply unit 13b includes, for example, a pressure control valve 44 that supplies hydrogen gas at a pressure corresponding to the pressure of air supplied as a signal pressure from the air compressor 41, and a pressure control valve that controls exhaust gas discharged from the fuel cell 11 An ejector 45 for mixing and recirculating the hydrogen gas supplied via the valve 44.

On each of the air electrode side and the hydrogen electrode side of the fuel cell 12, there are provided exhaust pressure valves 46, 46 for discharging each exhaust gas discharged from the fuel cell 12, ie, air and hydrogen gas, to the outside. Further, a pressure gauge 47 for detecting air pressure is provided on the air electrode side of the fuel cell 12, and a pressure gauge 47 for detecting hydrogen gas pressure and a flow rate on the hydrogen electrode side of the fuel cell 12. A flow meter 48 is provided. Then, the reaction gas supply control ECU 23 receives, for example, each detection value detected by each of the pressure gauges 47, 47 and the flow meter 48, performs an I / O process described later, and outputs the result to the coordination control ECU 21. . Further, the reaction gas supply control ECU 23 is provided with a cooperative control ECU as described later.
In accordance with the reaction gas control amount received from 21, that is, the flow rate and pressure of the reaction gas, a control signal for ensuring a desired rotation speed is output to the air compressor 41, and the opening and closing operation of the exhaust pressure valves 46, 46 is instructed. Output a command signal.

The power storage device 14 is a capacitor such as an electric double layer capacitor or an electrolytic capacitor. The fuel cell 12 and the power storage device 14 are connected in parallel to a traveling motor 31 and the like, which are electric loads. The power distribution unit 15 includes, for example, a high-voltage distributor and controls a current value supplied to an electric load such as the traveling motor 31 based on a command signal from the power distribution control ECU 24. The cooling unit 16 forms a water circulation system for cooling the running motor 31, the motor 42 for driving the air compressor 41, the fuel cell 12, and the like, and includes a water pump for supplying cooling water and the like. I have.

The ECU 17 comprises a plurality of ECUs 21,..., 25 mutually connected via a network 51. Cooperative control ECU2 forming server device
Reference numeral 1 denotes a plurality of subsystems constituting a client device, for example, a motor control ECU 22 and a reaction gas supply control EC
U23, the power distribution control ECU 24, and the cell voltage detection control E
The cooperative operation with the CU 25 is controlled. Here, the ECUs 22,..., 25 constituting the respective subsystems perform I / O processing on control signals transmitted / received between the cooperative control ECU 21 and the control target, as well as abnormal conditions such as when the network is stopped, as described later. The cooperative control ECU 21 controls the evacuation processing and the protection operation in the ECUs 22,.
, 25 are controlled on the basis of the control signal obtained by the I / O processing in step (1).

For example, as shown in FIG.
21 includes an MPU 61, a communication controller 62, and a program writing control unit 63. MP
U61 receives each control signal after I / O processing from each of the ECUs 22,..., 25 constituting a plurality of subsystems via the communication controller 62, and controls the ECUs 22,. A control operation for cooperative operation is performed. Also, the program writing control unit 63 changes the contents of the cooperative operation of the ECUs 22,...
The writing operation when changing the calculation contents of 61 is controlled.

For example, as shown in FIG. 4, each of the ECUs 22,...
Communication controller 72 and program writing control unit 73
, An input circuit 74, and an output circuit 75. The MPU 71 converts a signal received from an external sensor switch 76 or the like via the input circuit 74 or a control signal received from the cooperative control ECU 21 via the communication controller 72 into an I / O including a predetermined conversion process. An I / O processing unit 71a for performing processing is provided.
From the cooperative control E via the communication controller 72.
The control signal is transmitted to the CU 21 and the control signal from the cooperative control ECU 21 is output to the actuator 77 via the output circuit 75.
Further, the MPU 71 includes an autonomous control unit 71b that independently controls the evacuation operation of the control target such as the reaction gas supply unit 13 and the protection operation of the fuel cell 12, and the like. A control signal is output to actuator 77. Note that the program writing control unit 73
Controls a write operation when processing contents such as I / O processing in the MPU 71 are changed.

The functions of the cooperative control ECU 21 and the ECUs 22,..., 25 constituting a plurality of subsystems will be described below. The motor control ECU 22 includes a PDU 32
Controls the power conversion operation of the PWM inverter provided in the control unit, and refers to a predetermined control map based on the motor control amount received from the cooperative control ECU 21, for example, the required torque value, the motor output, and the like. The AC voltage command values for the U-phase, V-phase and W-phase are P
Output to DU32. Then, the U-phase current, the V-phase current, and the W-phase current corresponding to these respective voltage command values are
To output to each phase of the traveling motor 31.

The reaction gas supply control ECU 23 refers to a predetermined control map based on the reaction gas control amount received from the cooperative control ECU 21, for example, the flow rate and pressure of the reaction gas, that is, hydrogen gas and air supplied to the fuel cell 12. For example, it outputs a control signal for ensuring a desired rotation speed to the air compressor 41, or outputs a control signal for controlling the valve opening of the exhaust pressure valve 46 which can be adjusted by, for example, a stepping motor.

The power distribution control ECU 24 includes, for example, the fuel cell 1
2 performs predetermined I / O processing on the output current and output voltage signals output from the power storage device 2 and the output current and terminal-to-terminal voltage and temperature signals output from the power storage device 14, and performs cooperative control EC.
The power supply switching control is performed based on a power distribution control signal transmitted to the U21 and received from the cooperative control ECU 21, for example, a control signal instructing the operation of the high-voltage distributor or the like.

The cell voltage detection control ECU 25 monitors the voltage values of a plurality of cells constituting the fuel cell 12,
For example, an average value, a deviation, a maximum value, a minimum value, and the like of the voltage values detected for a plurality of cells are calculated and transmitted to the cooperative control ECU 21.

Vehicle control system 1 according to the present embodiment
0 has the above-described configuration. Next, the operation of the vehicle control system 10 will be described with reference to the accompanying drawings. FIG. 5 is a flowchart showing the operation of the cooperative control ECU 21. FIG. 6 is a flowchart showing the operation of each ECU constituting a plurality of subsystems.
25 is a flow chart showing the operation of the ECU, in particular, the input processing. FIG. 7 shows each ECU constituting a plurality of subsystems.
25 is a flowchart showing the operations of,..., 25, particularly output processing.

The operation of the cooperative control ECU 21 will be described below. First, in step S01 shown in FIG. 5, as a system initialization process, for example, appropriate control values, constants, and the like are set to predetermined values. Next, in step S02, each of the ECUs 22 and
.., 25 via the network 15 are determined. If this determination is "NO", the flow proceeds to step S02. on the other hand,
If the result of this determination is "YES", then step S03
Proceed to.

In step S03, a logical value is extracted from the received packet. The logical value is, for example, a general-purpose physical quantity or an abstract control value that constitutes a control signal transmitted and received between the cooperative control ECU 21 and each of the ECUs 22,. The value is set so that it will not be affected even if it is done. For example, when controlling the air compressor 41 to a predetermined rotation speed, the actually required operation command value is a voltage value or a current value supplied to the motor 42, but is finally required in the system. Is the flow value of the reaction gas, and becomes a constant control value even when the air compressor 41 or the motor 42 is changed to another device, for example.

In step S04, a control operation is performed based on the extracted logical value to calculate a control logical value including a highly versatile physical quantity, an abstract control value, and the like. Next, in step S05, control logic values for controlling the ECUs 22,..., 25 constituting a plurality of subsystems are packetized. Then, in step S06, each of the ECUs 22 and
, 25, and a series of processes is completed.

For example, in the fuel cell vehicle 1 according to the present embodiment, first, the value of the accelerator opening is adjusted by the cooperative control EC.
Read by U21. The cooperative control ECU 21 calculates a required motor control amount, for example, a required torque value and a motor output from the value of the accelerator opening, and transmits the required torque value and the motor output to the motor control ECU 22. Further, the cooperative control ECU 21 calculates an amount of power corresponding to the calculated required torque value, the motor output, and the like, and controls a reaction gas control amount required to output the amount of power, for example, a flow rate of hydrogen gas and air, and The pressure is calculated and transmitted to the reaction gas supply control ECU 23. Further, the cooperative control ECU 21
Transmits a power distribution control signal to the power distribution control ECU 24 according to the operating state of the fuel cell vehicle 1, for example, an idle driving state. Further, the cooperative control ECU 21 performs the operations based on the detected values such as the average value and the deviation, the maximum value and the minimum value of the voltage values for the plurality of cells received from the cell voltage detection control ECU 25.
It is determined whether the fuel cell 12 is normal.

Hereinafter, each EC constituting a plurality of subsystems will be described.
The input processing of U22,..., 25 will be described. First,
In step S11 shown in FIG. 6, an A / D conversion value such as a detection signal received from an external sensor switch 76 or the like via the input circuit 74 is read. Next, step S1
In 2, the A / D conversion value is converted into a logical value. Next, in step S13, a transmission packet is created from the logical value. Then, in step S14, a packet is transmitted to cooperative control ECU 21, and a series of processing ends.

The following is a description of each EC constituting a plurality of subsystems.
The output process of U22,..., 25 will be described. First,
In step S21 shown in FIG.
A logical value is extracted from the packet received from 21. Next, in step S22, the extracted logical value is converted into a control value of the actuator 77. Next, step S2
3, the actuator 77 is output via the output circuit 75.
Is output, and the series of processes ends.

For example, in the fuel cell vehicle 1 according to the present embodiment, the motor control ECU 22 that has received the required torque value, the motor output, etc. (the logical value in step S21) as the motor control amount from the cooperative control ECU 21, Referring to the control map, for example, U-phase, V-phase and W-phase AC voltage command values (control values in step S22) as switching commands for controlling the power conversion operation of the PWM inverter and the like provided in PDU 32 Is output to the PDU 32.

A reaction gas supply control EC which receives a control signal of the flow rate and pressure of the reaction gas (the logical value in step S21) as a reaction gas control amount from the cooperative control ECU 21.
U23 controls the flow rate of the reaction gas supplied to the fuel cell 12 so that a predetermined output is obtained, and sets the pressure difference between the hydrogen electrode and the air electrode of the fuel cell 12 to a predetermined pressure. To secure the desired power generation efficiency. That is, with reference to a predetermined control map, for example, a current value and a voltage value (control value in step S22) for ensuring a desired rotation speed for the air compressor 41 are calculated and output, and the exhaust pressure valve is also released. A current value and a voltage value (control value in step S22) for ensuring a desired valve opening degree are calculated and output to the 46 stepping motor and the like. Further, the power distribution control ECU 24, which has received the power distribution control signal (the logical value in step S21) from the cooperative control ECU 21,
It outputs a control signal (control value in step S22) for controlling the high voltage distributor and the like of the power distribution unit 15.

The operation of the vehicle control system 10 will be described below, in particular, when each EC is stopped when the network 15 is stopped.
The retreat operation of U22,..., 25 will be described with reference to the accompanying drawings. FIG. 8 is a flow chart showing the operation of each of the ECUs 22,..., 25 constituting a plurality of subsystems, particularly the evacuation processing when an abnormal state such as a network stop occurs.

First, for example, the cooperative control ECU 21 and each EC
When the occurrence of an abnormal state such as the stoppage of the network 51 is detected by determining whether or not the communication state has been established within a predetermined time with the U22,..., 25, step S31 shown in FIG. In the reaction gas supply control E
The CU 23 performs a process of maintaining the gap pressure difference. That is, abnormal pressure acts on the solid polymer electrolyte membrane of the fuel cell 12 by preventing, for example, the exhaust pressure valve 46 from closing suddenly or the rotational speed of the air compressor 41 from suddenly increasing. To prevent that. Next, in step S32, the system stop operation is started while maintaining the power supply voltage for driving auxiliary equipment. Next, in step S33,
The reaction gas supply control ECU 23 maintains the ventilation operation of the hydrogen gas to prevent the accumulation of the hydrogen gas in the system. Next, in step S34, the reaction gas supply control ECU 23 opens the exhaust pressure valve 46 on the cathode side of the fuel cell 12. Thereby, the pressure of the reaction gas supplied to the fuel cell 12 is reduced. Next, step S
In step 35, devices such as the traveling motor 31 and the air compressor 41 are stopped, and a series of processing ends.

As described above, according to the vehicular control system 10 of the present embodiment, the ECUs 21 constituting a plurality of subsystems are controlled by the cooperative control ECU 21 constituting a server device.
When cooperatively controlling the CUs 22,...
, 25 control only the I / O processing for the control signal transmitted to and received from the cooperative control ECU 21 and the evacuation operation of the control target in the event of an abnormality.
21 is caused to perform a control calculation for determining the operation of each control target subordinate to each ECU 22,. Thus, for example, when the control method of the vehicle control system 10 is changed, only the processing contents of the cooperative control ECU 21 need be changed, and the processing contents of the ECUs 22,... The troublesome work of adjusting and changing while adjusting can be saved. Also, for example, each EC
When the actuator 77 connected to U22,..., 25 is changed, only the content of the I / O processing in each of the ECUs 22,. Is eliminated, and the vehicle control system 10 can be easily updated. Moreover, when an abnormality occurs in the network 51, the cooperative control EC
Even if the U21 cannot cooperatively control the ECUs 22,..., 25, the ECUs 22,. Can be prevented from being performed.

In the present embodiment, the vehicle control system 10 is mounted on the fuel cell vehicle 1. However, the present invention is not limited to this. The control system 10 may be mounted on another vehicle, for example, a hybrid vehicle. . Further, in the present embodiment, power storage device 14 forms a capacitor,
The invention is not limited to this, and may be, for example, a battery. In this case, the power distribution control ECU 24 may perform the power distribution control while controlling the remaining capacity of the battery.

In this embodiment, the ECU 1
7, a plurality of subsystems constituting a client device include a motor control ECU 22 and a reactive gas supply control ECU.
23, a power distribution control ECU 24, and a cell voltage detection control EC
U25 is provided, but is not limited thereto, and may be provided with another control ECU. In short, the cooperative control ECU 21 and the network 51
The control ECUs connected to each other via the
In addition to performing I / O processing for converting a control value transmitted / received with the CU 21 to a logical value, for example, the network 5
In the event of an abnormality such as when the vehicle 1 is stopped, it is sufficient that the protection operation such as the evacuation process is controlled independently without relying on another ECU.

In this embodiment, each of the ECUs 22,..., 25 constituting a plurality of subsystems operates independently when the network 51 is stopped. However, the present invention is not limited to this. When an abnormal control signal is transmitted, the control signal may be ignored to operate independently.

[0041]

As described above, according to the vehicle control system of the first aspect of the present invention, for example, even if a portion corresponding to the control calculation of any one of the subsystems is changed, the cooperative control is performed. Only the processing contents in the device need be changed.
Further, even when the input / output control means is changed due to a change in the control target, only the input / output control means of the target control device needs to be changed, and the change to other control devices is suppressed. Accordingly, changes such as updating and improvement of the vehicle control system can be easily performed. Furthermore, according to the vehicle control system of the second aspect, changes such as updating and improvement of the vehicle control system can be easily performed without changing the content of the control calculation in the cooperative control device. .
Further, according to the vehicle control system of the third aspect, even when an abnormality such as a malfunction of the cooperative control device occurs, for example, when the communication system is stopped, an erroneous control for the control target is performed. It is possible to prevent the control target from being damaged or to perform a protection operation on the control target, thereby preventing the control target from being damaged.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a vehicle control system according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a fuel cell vehicle including the vehicle control system shown in FIG.

FIG. 3 is a functional block diagram of a cooperative control ECU.

FIG. 4 is a functional block diagram of each ECU constituting a plurality of subsystems.

FIG. 5 is a flowchart showing the operation of the cooperative control ECU.

FIG. 6 shows the operation of each ECU constituting a plurality of subsystems,
It is a flowchart which shows especially input processing.

FIG. 7 shows the operation of each ECU constituting a plurality of subsystems;
6 is a flowchart illustrating an output process.

FIG. 8 shows the operation of each ECU constituting a plurality of subsystems,
It is a flowchart which shows especially input processing.

[Explanation of symbols]

 Reference Signs List 10 vehicle control system 11 traveling motor drive unit (control target) 12 fuel cell (control target) 13 reactive gas supply unit (control target) 14 power storage device (control target) 15 power distribution unit (control target) 16 cooling unit (control) Target) 21 Cooperative control ECU (cooperative control device) 22 Motor control ECU (control device) 23 Reaction gas supply control ECU (control device) 24 Distribution control ECU (control device) 25 Cell voltage detection control ECU (control device) 51 Network ( (Communication line) 61 MPU (control operation means) 71a I / O processing section (input / output control means) 71b autonomous control section (autonomous control means)

Continuing from the front page (72) Inventor Yuki Tatsutomi 1-4-1 Chuo, Wako-shi, Saitama Pref. Inside of Honda R & D Co., Ltd. (72) Inventor Junichi Kobayashi 1-4-1 Chuo, Wako-shi, Saitama Co., Ltd. Inside the Honda R & D Co., Ltd. (72) Inventor Toshiaki Hirota 1-4-1 Chuo, Wako-shi, Saitama Pref. F-term in Honda R & D Co., Ltd. (reference) 5K033 AA06 AA09 BA06 DA02 DB20

Claims (3)

[Claims] 1. A vehicle control system comprising: a control device forming a plurality of subsystems to which a control target is connected; and a coordination control device for causing the plurality of control devices to cooperate with each other via a communication line. The system, wherein the plurality of control devices includes input / output control means for performing input / output processing on signals transmitted and received between the cooperative control device and the control target. A control system for a vehicle, comprising: a control operation unit that calculates a control signal for controlling an operation of the plurality of control devices and the control target based on a reception signal received from the control device. 2. The control operation means of the cooperative control device is achieved by operating the plurality of control devices and the control target as the control signal for controlling the operations of the plurality of control devices and the control target. The input / output control means of the control device converts the control physical amount received from the cooperative control device into an operation command value that directly instructs the operation of the control device and the control target. The vehicle control system according to claim 1, wherein: 3. The plurality of control devices, when a communication system with the cooperative control device or the cooperative control device is abnormal,
2. An autonomous control means for controlling an operation of the controlled object independently of the cooperative control device.
A control system for a vehicle according to claim 2.