INTEGRATED RECORDING SYSTEM

专利摘要:
integrated recording system. it is an integrated recording system that includes a control device and a recording device. the control device includes a transmission unit that emits a transmission signal when a steering assistance function is installed in the vehicle, and the recording device includes a receiving unit, a storage unit that includes a first area and a second area. area, a first vehicle behavior detection unit, a second vehicle behavior detection unit, a first recording processing unit, a second recording processing unit, and a recording permission unit that allows the first recording processing unit records the first vehicle information in the first area, and inhibits the second recording processing unit from recording the second vehicle information in the first area, when the transmission signal has been received, and allows the second unit recording processing system records the second vehicle information in the first area when the traffic signal the transmission has not been received.
公开号:BR102016016474B1
申请号:R102016016474-5
申请日:2016-07-15
公开日:2022-01-04
发明作者:Takashi Kojima
申请人:Toyota Jidosha Kabushiki Kaisha；
IPC主号:

专利说明:

BACKGROUND OF THE INVENTION 1. FIELD OF THE INVENTION
[001] The invention relates to an integrated recording system that records vehicle information regarding a vehicle state when it detects particular types of vehicle behaviors that include the activation of steering assistance functions. 2. DESCRIPTION OF RELATED TECHNIQUE
[002] An integrated recording system is known to record vehicle information (information pertaining to a vehicle operational state, a vehicle control state, environmental conditions around the vehicle, the vehicle driver's situation, etc.) it also detects particular types of vehicle behaviors (see, for example, Japanese Patent Application Publication No. 2007-293536 (JP 2007-293536 A)). With the integrated recording system, various analyzes concerning vehicle behaviors (e.g. analysis of the process leading to a particular vehicle behavior, the change of vehicle state corresponding to a particular vehicle behavior, etc.) can be performed. conducted.
[003] For example, the types of vehicle behaviors for which vehicle information is recorded may include the activation of steering assistance functions (e.g. a steering assistance function for steering stability, a steering assistance function collision avoidance steering wheel, etc.) fitted to the vehicle. These steering assistance functions are often provided as optional equipment.
[004] However, a memory that has a relatively small capacity is often employed as a memory (e.g. a non-volatile memory such as EEPROM) to record vehicle information, due to the usage environment (e.g. a temperature environment). a wide range from a high temperature to an extremely low temperature), high cost due to durability and reliability, and limited installation space in the first place, for example. In that case, when a recording area for recording corresponding vehicle information is allocated for each type of vehicle behavior to be detected, the recording area can be allocated only for each type of vehicle behavior to be detected, to the extent that data corresponding to the minimum number of detection times required for useful analysis can be recorded. Therefore, when a certain steering assistance function as an optional equipment has not been installed in the vehicle, it is desirable that the recording area that can be used to record vehicle information corresponding to the activation of the steering assistance function as an optional equipment be used effectively. to record vehicle information corresponding to another type of vehicle behavior. SUMMARY OF THE INVENTION
[005] Accordingly, an integrated recording system is provided with the ability to utilize a recording area that can be used to record vehicle information corresponding to the activation of a steering assistance function as optional equipment, such as a recording area for record vehicle information corresponding to another type of vehicle behavior, in a case where the driving assistant function has not been installed in the vehicle.
[006] In a first aspect of the invention, an integrated recording system includes a control device that performs vehicle control that includes control associated with a steering assistance function selectively installed in a vehicle, and an attached recording device. communicatively to the control device via an integrated network. The recording device records vehicle information representing a vehicle state when any of the pre-specified types of vehicle behaviors is detected, and the vehicle information is specified in advance for each of the pre-specified types of vehicle behaviors , and vehicle information is obtained at a predetermined period corresponding to a detection time at which vehicle behavior is detected. In the integrated recording system, the control device includes a transmission unit that sends a transmission signal to the integrated network in a case in which the driving assistance function has been installed in the vehicle, and the recording device includes a receiving unit. , a determining unit, a received information storage unit, a vehicle information storage unit, a first vehicle behavior detection unit, a second vehicle behavior detection unit, a first recording processing unit , a second write processing unit and a write permission unit. The receiving unit receives the transmit signal. The determining unit determines whether the receiving unit has received the transmit signal. The received information storage unit stores a determination result by the determination unit as received information. The vehicle information storage unit includes a recording area defined for each type of vehicle behaviors, and the recording area has a capability that allows recording of vehicle information for a pre-specified number of detection for each type of vehicle. vehicle behaviors. The first vehicle behavior detection unit detects a first vehicle behavior such as the activation of the steering assistance function, among the vehicle behaviors, and the second vehicle behavior detection unit detects a second vehicle behavior of a type different from the first vehicle behavior, among the vehicle behaviors. The first recording processing unit records the first vehicle information as the vehicle information corresponding to the first vehicle behavior, in a first area as the recording area corresponding to the first vehicle behavior, when the first vehicle behavior detection unit vehicle detects the first vehicle behavior. The second recording processing unit records the second vehicle information as the vehicle information corresponding to the second vehicle behavior, in at least one of the first area, and a second area as the recording area corresponding to the second vehicle behavior, when the second vehicle behavior detection unit detects the second vehicle behavior. The write permission unit allows the first recording processing unit to record the first vehicle information in the first area, and allows the second recording processing unit to record the second vehicle information in the second area, while inhibiting the second unit. recording processing to record the second vehicle information in the first area when the received information indicates that the transmission signal has been received. The recording permission unit allows the second recording processing unit to record the second vehicle information in the first area and the second area when the received information indicates that the transmission signal has not been received.
[007] According to the first aspect of the invention, the integrated recording system includes the control device that performs the vehicle control which includes the control associated with the steering assistance function (optional function) selectively installed in the vehicle, and the recording device that is communicatively connected to the control device via the integrated network. When any of the pre-specified types of vehicle behavior is detected, the recording device records vehicle information representing a vehicle state, which information is specified in advance for each type of vehicle behavior, for a predetermined period corresponding to the detection time. "Vehicle state" is a concept that includes movement conditions (the acceleration, vehicle speed, etc.) of the vehicle, control state (control commands, command values, etc.) of the vehicle, driving conditions ( a distance from another vehicle, etc.) of the vehicle, operating conditions (switching operation, throttle signal, etc.) of the vehicle, the situation of vehicle occupants, and so on. The control device includes the transmission unit which outputs the transmission signal (transmission signal corresponding to the optional function) to the integrated network when the optional function is installed in the vehicle. The broadcast signal is a communication frame that includes information regarding the steering assistance function in its data portion, no matter which communication protocol is employed by the integrated network, for example. When the integrated network is CAN (Controller Area Network), for example, the transmit signal is a CAN frame that has a CAN-ID assigned solely to the optional function. Furthermore, the recording device includes the receiving unit that receives the transmission signal generated from the transmission unit to the integrated network, the determining unit determining whether the transmission signal has been received by the receiving unit, the received information storage unit stores the result of determination by the determination unit, as received information, and the vehicle information storage unit which includes the recording area defined for each type of vehicle behavior, whose area has a capacity that allows recording of vehicle information for a pre-specified number of detection times, for each type of vehicle behavior. The received information is in the form of flag information for which the initial value ("0") is given when the transmit signal has not been received, and a different value ("1") is given when the transmit signal has been received. The "pre-specified number of detection times" corresponds to the number of data items at the minimum level required for useful analysis in relation to each of the vehicle behaviors of the types to be detected, for example. Furthermore, the recording device includes the first vehicle behavior detection unit that detects the first vehicle behavior as the activation of the optional function, the second vehicle behavior detection unit that detects the second vehicle behavior of a type other than the first vehicle behavior, the first recording processing unit recording the first vehicle information as vehicle information corresponding to the first vehicle behavior, in the first area as a recording area corresponding to the first vehicle behavior, when the first vehicle behavior detection unit detecting the first vehicle behavior, and the second recording processing unit recording the second vehicle information as vehicle information corresponding to the second vehicle behavior, in at least one of the first area and the second area as a recording area runs corresponding to the second vehicle behavior, when the second vehicle behavior detection unit detects the second vehicle behavior. The recording device includes the recording permission unit that allows the first recording processing unit to record the first vehicle information in the first area, and allowing the second recording processing unit to record the second vehicle information in the second area. , while inhibiting the second recording processing unit from recording the second vehicle information in the first area, when the received information indicates that the transmission signal has been received, and When the received information indicates that the transmission signal has not been received, the write permission unit allows the second write processing unit to write the second vehicle information in the first area and in the second area.
[008] Thus, according to the first aspect of the invention, the transmission unit of the control device that performs the control associated with an optional function sends the transmission signal to the integrated network when the optional function is installed in the vehicle. Furthermore, the receiving unit of the control device receives the transmission signal via the integrated network, and the determining unit of the control device determines whether the receiving unit has received the transmission signal. Then, the received information storage unit of the control device stores information received as the result of determination by the determining unit, namely received information indicating whether the receiving unit has received the transmission signal. With this arrangement, when the information received indicates that the broadcast signal has been received, it can be determined that the optional function has been installed in the vehicle. Therefore, in this case, the recording permission unit allows the first recording processing unit to record the first vehicle information in the first area within the vehicle information storage unit, and inhibits the second recording processing unit from recording. the second vehicle information in the first area. On the other hand, when the information received indicates that the transmission signal has not been received, it can be determined that the optional function has not been installed in the vehicle. Therefore, in that case, the recording permission unit allows the second recording processing unit to record the second vehicle information in the first area within the vehicle information storage unit. Consequently, when it has determined that the optional function has not been installed in the vehicle, the first area that can be used to record the first vehicle information corresponding to the first vehicle behavior such as the activation of the optional function can be effectively used to record the second vehicle information corresponding to the second vehicle behavior. In particular, the vehicle information storage unit is likely to have a relatively low capacity; therefore, the recording area that can be allocated for each of the vehicle behaviors of the types to be detected is often limited to the minimum level of capacity needed for useful analysis. Consequently, by expanding the recording area corresponding to the vehicle behavior (second vehicle behavior) of a different type of activation of the optional function, it is possible to improve the usefulness of the analysis corresponding to the second vehicle behavior.
[009] In a second aspect of the invention, the transmission unit can output the transmission signal to the integrated network when the vehicle is started.
[0010] According to the second aspect of the invention, upon starting the vehicle, the transmission signal corresponding to the steering assistance function is generated for the integrated network, as CAN. "Vehicle start" means that the vehicle is put into a state where it has the ability to travel in accordance with the driver's operation, and represents a concept that includes turning on the ignition key (IG-ON) in a vehicle. engine, and the initiation of a control device (e.g. HV-ECU) that performs coordinated vehicle-wide control in an electric vehicle (which includes a hybrid vehicle and a range-extending vehicle), for example . Therefore, when the vehicle is started for the first time, after dispatch from the factory, for example, the receiving unit of the control device receives the transmit signal, and the determining unit determines that the transmit signal has been received, to that the received information indicating that the transmission signal has been received is stored in the received information storage unit. In this way it can be determined whether the optional function has been installed when the vehicle is started for the first time; therefore, when the optional function is installed, the first area is not used to record the second vehicle information corresponding to the second vehicle behavior different from the first vehicle behavior such as the activation of the optional function (for example, a situation in which the data of the first vehicle information corresponding to the first vehicle behavior is mixed with the data of the second vehicle information corresponding to the second vehicle behavior can be avoided). Namely, the data reliability of the first vehicle information corresponding to the first vehicle behavior such as activating the optional function, whose data is recorded in the first area, can be improved. Furthermore, even when the optional function is installed next, it can be determined whether the optional function has been installed at the time the vehicle is started for the first time after additional installation of the optional function; therefore, substantially the same effect is generated.
[0011] In a third aspect of the invention, the control device may include a control command creation unit that issues a control command associated with the activation of the steering assistance function, to the integrated network, and the transmission signal could be the control command.
[0012] According to the third aspect of the invention, the transmission signal is the control command associated with the activation of the steering assistance function. Namely, the control command to activate the steering assistance function is also used as the transmission signal corresponding to the optional function, so that it can be determined whether the optional function has been installed in the vehicle. Therefore, compared to the case where a dedicated broadcast signal is provided, the increase in cost of the integrated recording system as a whole, and an increase in the processing load on the control device, can be suppressed. Furthermore, until the control command is generated for the integrated network, namely, until the optional function is activated, the recording device's receiving unit does not receive the control command as the transmit signal, and the unit of determination does not determine that the transmission signal has been received; therefore, received information indicating that the transmission signal has not been received is stored in the received information storage unit. Therefore, even when the optional function is installed, the first area for recording the first vehicle information corresponding to the first vehicle behavior such as activating the optional function can be effectively used as a recording area for recording the second vehicle information corresponding to the second vehicle behavior different from the first vehicle behavior, until the optional function is activated.
[0013] In a fourth aspect of the invention, the integrated network can be a CAN, and the transmit signal can be a CAN frame that has a CAN-ID that is uniquely given to the steering assistance function.
[0014] According to the fourth aspect of the invention, the transmission signal is the CAN frame that has the CAN-ID assigned solely to the steering assistance function. Namely, in the CAN structure used generally and widely as an integrated network, the transmission signal can be perceived only by assigning a unique CAN-ID to the steering assistance function. Therefore, the increase in cost of the integrated recording system as a whole can be suppressed.
[0015] In accordance with the forms of the invention described above, it is possible to provide an integrated recording system which is capable of utilizing a recording area that can be used to record vehicle information corresponding to the activation of a steering assistance function such as optional equipment, such as a recording area to record vehicle information corresponding to another type of vehicle behavior, in a case where the steering assistance function has not been installed in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The features, advantages and technical and industrial significance of the exemplary embodiments of the invention will be described below with reference to the accompanying drawings, in which like numerals denote similar elements, and in which:
[0017] Figure 1 is a view schematically showing an example of the configuration of an integrated recording system;
[0018] Figure 2 is a view showing an example of a frame type according to the CAN protocol;
[0019] Figure 3 is a view that schematically shows an example of the hardware configuration of an information recording ECU;
[0020] Figure 4 is a view that schematically shows an example of the configuration of various detection/measurement devices;
[0021] Figure 5 is a view showing an example of CAN-IDs assigned solely to steering assistance functions (LKA, PCS) as optional equipment;
[0022] Figure 6 is a functional block diagram of an ECU according to a first embodiment;
[0023] Figure 7 is a flowchart that conceptually illustrates an example of a control routine executed by a triggering information creation unit;
[0024] Figure 8 is a functional block diagram of an information recording ECU according to the first embodiment;
[0025] Figure 9 is a flowchart that conceptually illustrates an example of a recording area allocating the routine executed by a recording area allocation unit according to the first embodiment;
[0026] Figure 10A is a view useful to explain an example of recording area that allocates the operation performed by the recording area allocation unit according to the first modality, more specifically, a view that shows area allocation conditions recording areas RA1-1 to RA1-3, and recording areas RA2-1 to RA2-3, on the vehicle's off-line stage;
[0027] Figure 10B is a useful view to explain an example of recording area that allocates the operation performed by the recording area allocation unit according to the first modality, more specifically, a view that shows area allocation conditions recording areas RA1-1 to RA1-3, and recording areas RA2-1 to RA2-3, when it is determined that all PCS alert functions, PCS brake and LKA as optional functions have been installed in the vehicle;
[0028] Figure 10C is a useful view to explain an example of recording area that allocates the operation performed by the recording area allocation unit according to the first modality, more specifically, a view that shows area allocation conditions recording areas RA1-1 to RA1-3, and recording areas RA2-1 to RA2-3, when it is determined that only the PCS alert function, as one of the optional functions, has been installed;
[0029] Figure 11A is a view useful to explain another example of recording area allocating the operation performed by the recording area allocation unit according to the first embodiment;
[0030] Figure 11B is a view useful for explaining another example of recording area allocating the operation performed by the recording area allocation unit according to the first embodiment;
[0031] Figure 12 is a flowchart that conceptually illustrates an example of a vehicle behavior detecting routine performed by a vehicle behavior detection unit;
[0032] Figure 13 is a flowchart that conceptually illustrates an example of a data recording routine performed by a recording processing unit;
[0033] Figure 14 is a flowchart that conceptually illustrates another example of data recording routine performed by the recording processing unit;
[0034] Figure 15 is a timing graph useful for explaining an example of operation of the integrated recording system according to the first embodiment;
[0035] Figure 16 is a flowchart conceptually illustrating an example of a recording area allocating the routine executed by a recording area allocation unit according to a second embodiment;
[0036] Figure 17A is a view useful to explain an example of the operation to allocate recording areas by recording area allocation unit according to the second embodiment, more specifically, a view showing recording area allocation conditions RA1-1 to RA1-3, and recording areas RA2-1 to RA2-3, on the vehicle's off-line stage;
[0037] Figure 17B is a view useful to explain an example of the operation to allocate recording areas by recording area allocation unit according to the second embodiment, more specifically, a view showing recording area allocation conditions RA1-1 to RA1-3, and recording areas RA2-1 to RA2-3, when PCS alert as an optional function is activated; and
[0038] Figure 18 is a flowchart that conceptually illustrates an example of a vehicle behavior detecting routine performed by a vehicle behavior detection unit according to a second embodiment. DETAILED DESCRIPTION OF MODALITIES
[0039] Some embodiments of the invention will be described with reference to the drawings.
[0040] Figure 1 schematically shows an example of the configuration of an integrated recording system 1 according to a first embodiment. Integrated recording system 1 is installed in a vehicle, and records vehicle information (vehicle behavior data) representing a vehicle state, the information of which is specified in advance for each vehicle behavior type, when pre-specified types of vehicle behaviors are detected. In what follows, the term "vehicle" refers to the vehicle in which the integrated recording system 1 is installed, unless specifically noted otherwise.
[0041] "Vehicle behavior" is vehicle behavior that is triggered by a control value calculated to control the vehicle, or an operating signal generated according to the operation of a vehicle occupant (such as a driver), for example. The types of vehicle behaviors to be detected are specified in advance, according to the analysis purpose, etc. For example, vehicle behaviors to be detected include activating particular driving assistance functions (such as alert control functions and intervention control functions) deployed when particular conditions are satisfied. Alert control functions include an alert (which will be called "PCS alert") for collision avoidance with an obstacle in front of the vehicle, LDA (Lane Departure Alert), CTA (Traffic Crossing Alert) , and so on. Intervention control functions are control functions implemented independently of operation by the driver, and include automatic braking (which will be called "PCS brake") for collision avoidance with an obstacle in front of the vehicle, VSC (Stability Control of Vehicle), ABS (Anti-lock Brake System), TRC (Traction Control), LKA (Lane Keeping Assist), and so on. Vehicle behaviors to be detected can also include vehicle behaviors caused by particular manipulations, for example. Vehicle behaviors caused by particular manipulations include the simultaneous generation of an accelerator signal (an accelerator pedal press greater than 0) and a brake signal (an amount of brake pedal operation greater than 0), with the pressing the accelerator pedal becomes medium or large in the N range, sudden braking (such a level that it causes the ABS to operate when it rains), emergency braking (braking more urgently than sudden braking), sudden turning, and so on. against. The following description will be provided based on the assumption that there are J types of vehicle behaviors to be detected.
[0042] In addition, "vehicle state" is a concept that includes movement conditions (the acceleration, speed, etc. based on sensor values or calculation values) of the vehicle, the control state (operational commands , command values, etc.) of the vehicle, the driving conditions (a distance from another vehicle, a range of travel, etc. based on sensor values or calculation values) of the vehicle, the environmental conditions (such as an inside temperature, an outside temperature, the presence or absence of raindrops, etc. based on sensor values) of the vehicle, and the situation (such as an image of the driver taken from a camera sensor, for example ) of occupants (which includes the driver) of the vehicle. As described above, the types of vehicle information to be recorded as specified in advance for each type of vehicle behavior. This is because the type(s) of vehicle information that would be useful for the analysis may differ depending on the type of vehicle behavior. In addition, there may be two or more types of vehicle information to be recorded for certain vehicle behavior.
[0043] As shown in Figure 1, the integrated recording system 1 includes an information recording ECU 6 and several ECUs 7 which are connected by CAN (Controller Area Network) 9 as an example of an integrated network, and various devices detection/measurement 8 connected to the information recording ECU 6 and several ECU 7 as they can communicate with each other. The information recording ECU 6 is provided in a lower portion of a center console in the interior vehicle, for example.
[0044] CAN 9 includes CAN buses 91 - 93, and a gateway (G/W) 94, and CAN buses 91 - 93 are connected to each other via the G/W 94. Several ECUs 7 are connected to CAN bus 91 or CAN bus 92, and the information recording ECU 6 is connected to the CAN bus 93, while the information recording ECU 6 and the various ECUs 7 are connected via the G/W 94 , so that they can communicate with each other according to the CAN protocol.
[0045] The above described way of connecting information recording ECU 6 and several ECUs 7 is a mere example, and the respective ECUs 6, 7 can be connected on the same CAN bus in CAN 9, without involving the G/W 94.
[0046] A CAN frame (data frame) according to a standard CAN protocol format has a structure as shown in Figure 2 (a view showing an example of a frame type according to the CAN protocol) . More specifically, the CAN frame (data frame) consists of SOF (Start of Frame, 1 bit), ID (11 bits), RTR (1 bit), control field (6 bits), data field (0 to 64 bits), CRC string (15 bits), CRC delimiter (1 bit), ACK slot (1 bit), ACK delimiter (1 bit), and EOF (End of Frame, 7 bits). The data to be transmitted by the CAN frame is included in the data field, and the CAN frame can transmit up to 8-byte data in byte unit. The length of data included in the CAN frame is set between 0 and 8, using 4 bits of DLC (Data Length Code) in the control field.
[0047] The ID is used to identify the data content, transmission node, etc., and has a priority ordering function for communication arbitration (with arbitration being conducted when communication frames are generated simultaneously from two or more nodes on CAN buses 91 to 93) on CAN 9 (priority is higher as ID is lower). Since the ID that has a length of 11 bits is in the range of 0x0 to 0x7FF (in hexadecimal), IDs capable of identifying a maximum of 2048 types can be assigned to CAN frames. Also, in a CAN frame (not shown) according to an extended format of the CAN protocol, an extended ID (18 bits) is provided, in addition to a base ID (11 bits) corresponding to the ID in the standard format. . Therefore, the ID that has a length of 29 bits as a combination of the base ID and the extended ID is in the range 0x0 - 1FFFFFFF (in hexadecimal); therefore, IDs capable of identifying a maximum of about 5.4 million types can be assigned to CAN frames.
[0048] In this way, the information recording ECU 6 and various ECUs 7 transmit and receive CAN frames on CAN 9, according to the pre-assigned IDs, in order to receive the necessary data identifying the CAN frames on CAN 9 (CAN buses 91, 92, 93). In the following description, the ID in the standard format, and a combination of the base ID and the extended ID in the extended format will be called "CAN-ID".
[0049] Figure 3 schematically shows an example of the information recording ECU 6 hardware configuration.
[0050] Information recording ECU 6 includes CPU 11, RAM 12, ROM 13, non-volatile memory 14, clock 15, and a communication interface 17, which are connected by an internal bus 19, and a transmit/receive part 25 connected to the communication interface 17.
[0051] Non-volatile memory 14 is, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory), or the like. A memory having a relatively low capacity from several tens of KB (kilobytes) to several hundred KB, for example, may be employed as non-volatile memory 14, in view of the space and cost of installation. The transmit/receive part 25 includes a CAN transceiver and a CAN trigger, and is connected to the CAN bus 93. The transmit/receive part 25 also includes a transmit/receive part capable of communicating with various devices. detection/measurement 8, using any means of communication (eg CAN 9, LIN (Local Interconnection Network), or one-to-one communication lines (hot lines)).
[0052] Figure 4 schematically shows an example of the configuration of various detection/measurement devices 8.
[0053] The various detection/measurement devices 8 are various sensors, etc. installed in the vehicle, and are communicatively connected to the information recording ECU 6 and various ECUs 7 (ECUs 7A-1 to 7A-N, 7B-1 to 7B-M), via any means of communication (e.g. , CAN 9, LIN, or one-to-one communication lines (direct lines)), as shown in Figure 1 (dotted-line arrows). As an example, several detection/measurement devices 8 include an 8-1 front-facing radar sensor, an 8-2 front-facing camera sensor, ..., and an 8K acceleration sensor. In the following description, an 8-h detection/measurement device (h=1, 2, ., K) denotes any of the 8-1 to 8-K detection/measurement devices.
[0054] Referring back to Figure 1, several ECUs 7 are control devices that perform vehicle control, and are ECUs that perform control associated with pre-specified types of vehicle behaviors, from ECUs installed on the vehicle. vehicle. Each of the 7 ECUs performs the control associated with one or more types of vehicle behavior. The various 7 ECUs include the 7A ECUs (7A-1 to 7A-N) which perform the control associated with the activation of steering assistance functions (optional functions) selectively installed in the vehicle (as optional equipment), and the 7B ECUs (7B -1 to 7B-M) that perform control associated with vehicle behaviors other than activating optional functions. As an example, ECUs 7A include PCS-ECU 7A-1, ..., LKA-ECU 7A-N. The 7B ECUs include the 7B-1 brake ECU, ..., the 7B-M engine ECU. In the following description, ECU 7A-i (i=1, 2, ..., N) denotes any one of ECUs 7A-1 to 7A-N. Also, ECU 7B-j (j=1, 2, ., M) denotes any one of ECUs 7B-1 to 7B-M.
[0055] "Vehicle behaviors other than activation of optional functions" include vehicle behaviors caused by activation of steering assistance functions (standard functions) always fitted to the vehicle (as standard equipment), and particular manipulations, and so on. When a certain ECU 7 performs both the control associated with the activation of an optional function, and the control associated with vehicle behavior other than the activation of optional functions, that ECU 7 is handled as one of the ECUs 7A that perform the control associated with the activation. of optional functions. PCS-ECU 7A-1 performs the control associated with PCS alert function and PCS brake function (control to implement PCS alert function and PCS brake function). The LKA-ECU 7A-N performs the control associated with the LKA function (control to implement the LKA function). The 7B-1 brake ECU performs the control associated with the ABS function and the VSC function (control to implement the ABS function and the VSC function). The 7B-M engine ECU performs the control associated with the TRC function (control to implement the TRC function). Namely, in this mode, the following description is provided on the assumption that the ABS, VSC and TRC functions are standard functions, and the PCS alert, PCS brake and LKA functions are optional functions.
[0056] ECU 7A-i, in response to activation of a certain optional function, emits a transmission signal corresponding to the optional function to CAN 9 as the integrated network when this optional function is installed. The transmission signal corresponding to the optional feature may be a communication frame that includes information indicating that the optional feature has been installed, in a piece of data, for example. The broadcast signal corresponding to the optional function can also be a broadcast signal that includes information related to activating the optional function, for example. In this mode, in CAN communications on CAN 9, a dedicated CAN board is defined for each of the optional functions. Namely, a unique CAN-ID is assigned to each optional function. Then the dedicated CAN board (CAN board which includes information regarding the optional function) to which the unit CAN-ID is given and transmitted, as the transmit signal corresponding to the optional function. For example, as shown in Figure 5 (which shows an example of assigning CAN-IDs), the CAN-IDs "aaa", "bbb", "ccc" are assigned to the LKA role, and the CAN-IDs "ddd ", "eee", "fff" are assigned to the PCS alert function, while the CAN-IDs "ggg", "hhh", "iii" are assigned to the PCS brake function (all from "aaa" to " iii" represent numbers in hexadecimal). When ECU 7A-i (PCS-ECU 7A-1, LKA-ECU 7A-N) corresponding to an optional function sends the CAN frame that includes information regarding the optional function to be controlled by ECU 7A-i, the CAN 9 (CAN bus 91, 92), ECU 7A-i uses the unique CAN-ID corresponding to the optional function.
[0057] When ECU 7A-i, in response to the activation of an optional function, sends trigger information (which will be described later) to CAN 9, it uses the CAN frame that has the unique CAN-ID corresponding to the CAN 9. optional function. Namely, the CAN frame that is transmitted from ECU 7A-i in response to the activation of the optional function to CAN 9 and includes the trigger information corresponds to the transmission signal corresponding to the optional function. Although a plurality of (three) unique CAN-IDs are assigned to each optional function, for the purposes of identifying the data content in the CAN frame, for example, in the example of Figure 5, the unique CAN-ID assigned to each function optional can be one.
[0058] In the above mode, the ECU 7A-i, in response to the activation of an optional function, emits the transmission signal corresponding to the optional function (e.g. the CAN board which has the unique CAN-ID for the optional function ) to CAN 9. Therefore, each node of ECU 6 writing information and various ECUs 7 (ECU 7A-1 to 7A-N, ECU 7B-1 to 7B-M) connected to CAN 9 can determine that the optional function corresponding has been installed in the vehicle.
[0059] The various ECUs 7 (ECU 7A-i, 7B-j) and the various sensing/measuring devices 8 described above (sensing/measuring devices 8-1 to 8-K) realize that vehicle information creates the unit that creates the vehicle information described above. Any one of the 7 ECUs (ECU 7A-i, 7B-j) and the 8-h detection/measurement devices realizes that the vehicle information creation unit is determined according to the type of vehicle information specified in advance for each type of vehicle behavior to be detected (the type of vehicle information to be written). For example, when the vehicle information to be written is vehicle acceleration, the vehicle information creation unit is sensed by the 8-K acceleration sensor. When the vehicle information to be written is a control command value of brake ECU 7B-1, the vehicle information creation unit is perceived by brake ECU 7B-1. The vehicle information to be written may include detection information from the front 8-1 radar sensor, the image captured from the 8-2 front camera sensor, the throttle signal, the control command value of a steering unit, the history of setting flags related to various controls, diagnostic information and various conditions of a battery in a vehicle, for example.
[0060] Figure 6 is a functional block diagram of ECU 7 (7A-i, 7B-j). In the present context, the case where ECU 7 is PCS-ECU 7A-1 will mainly be described as an example.
[0061] The hardware configuration of ECU 7 (7A-i, 7B-j) is similar to that of ECU 6 recording information and therefore will not be illustrated in the drawings. Each of ECU 7's functions (7A-i, 7B-j) can be implemented by executing various programs stored in ROM on the CPU.
[0062] ECU 7 (7A-i, 7B-j) includes a control command creation unit 71, a trigger information creation unit 72 and a transmission processing unit 73, as perceived functional units executing- if the corresponding programs stored in ROM, on the CPU.
[0063] When ECU 7 (7A-i, 7B-j) performs control associated with two or more types of vehicle behaviors (e.g. when control associated with two or more steering assistance functions is performed), the control command creation unit 71, the trigger information creation unit 72 and the transmission processing unit 73 are provided for each type of vehicle behavior (for each steering assistance function) to be controlled.
[0064] Control command creation unit 71 creates a control command associated with vehicle behavior (for example, a control command associated with activating a steering assistance function or a control command associated with activating a failsafe function for vehicle behavior caused by particular handling).
[0065] Control command creation unit 71 of PCS-ECU 7A-1 creates a control command associated with "PCS alert activation" and "PCS brake activation". More specifically, the control command creation unit 71 determines whether PCS alert activation and PCS brake activation are required, based on information coming from the 8-h detection/measurement device. For example, the control command creation unit 71 of the PCS-ECU 7A-1 calculates a length of time (TTC: Time to Collision) that it takes for the vehicle to collide with an obstacle in front of the vehicle, based on information detection coming from at least one of the 8-1 front-facing radar sensor and 8-2 front-facing camera sensor. Then, when the TTC becomes equal to or less than a predetermined threshold value Tth1, the control command creation unit 71 creates an alert command, and the transmission processing unit 73 which will be written next transmits the command of alert to brake ECU 7B-1 via the transmission/receiver part. When the TTC becomes equal to or less than Tth2 (<Tth1), the control command creation unit 71 creates an automatic brake command, and the transmission processing unit 73 transmits the automatic brake command to the brake ECU. 7B-1 through the transmit/receive portion. The 7B-1 brake ECU creates a control command, in response to receiving the alert command, and activates a vibrating alert alert (activate PCS alert). In addition, the 7B-1 brake ECU creates a control command (command value), in response to receiving the automatic brake command, and controls brake actuators which include various valves, the pump, the accumulator, and so on. on. Namely, the 7B-1 brake ECU activates the PCS brake by increasing a wheel cylinder pressure of each wheel, based on a control value different from a control value according to a braking operation of the driver.
[0066] The trigger information creation unit 72 creates information (trigger information) referring to a trigger to record vehicle information, in the information recording ECU 6 (data recording unit 106 to be described later). With reference to Figure 7, the flow of processing performed by the trigger information creation unit 72 will be described.
[0067] Figure 7 is a flowchart that conceptually illustrates an example of a control routine executed by the trigger information creation unit 72. The control routine according to the flowchart of Figure 7 is executed repeatedly at given intervals, during a period from starting to stopping the vehicle, like the routine of Figure A. namely, the routine is executed at the same time the vehicle is started, and then executed repeatedly at given intervals until the vehicle is stopped.
[0068] A trigger establishment flag F1-1 to F1-J, which is provided for each of the J types of vehicle behaviors to be detected, is a flag that indicates whether a trigger is established. In the following description, a trigger establishment flag F1-k (k=1, 2, ..., J) denotes any of the trigger establishment flags F1-1 through F1-J. The term "vehicle start" means that the vehicle is put into a state in which the vehicle is able to move according to the driver's operation, and represents a concept that includes the ignition key turning on (IG-ON) in a gasoline engine vehicle, and initialization of a control device (e.g. HV-ECU) that performs coordinated vehicle-wide control in an electric vehicle (which includes a hybrid vehicle and a range-extending vehicle), for example. The term "vehicle stop" means that the vehicle is put into a state in which the vehicle is not able to move in accordance with the driver's operation, and represents a concept that includes IG-OFF ) in a gasoline engine vehicle, and the stopping of the above mentioned control device in an electric vehicle, for example.
[0069] In step S101, the trigger information creation unit 72 determines whether a trigger is established, namely, whether the control command creation unit 71 has created a control command associated with vehicle behavior control. For example, the trigger information creation unit 72 corresponding to the PCS brake of the PCS-ECU 7A-1 determines whether a control command associated with activating the PCS brake (an automatic brake command to activate the PCS brake) was raised. If the determination condition is satisfied, the triggering information creation unit 72 proceeds to step S102. If not, the trigger information creation unit 72 proceeds to step S103.
[0070] In step S102, the trigger information creation unit 72 sets a trigger establishment flag F1-k to "1".
[0071] On the other hand, in step S103, the trigger information creation unit 72 sets the trigger establishment flag F1-k to "0".
[0072] Then, in step S104, the trigger information creation unit 72 creates trigger information that includes the trigger establishment flag F1-k set in step S102 or step S103, and terminates the current cycle of the routine.
[0073] In this way, the trigger information creation unit 72 creates, on a regular basis, trigger information that includes the trigger establishment flag F1-k which indicates whether the trigger is established or not, and the triggering unit transmission processing 73 which will be described later outputs the trigger information to CAN 9 via the transmit/receive part (transmits the same to the information recording ECU 6 via the transmit/receive part and CAN 9) .
[0074] The transmission processing unit 73 performs the operation to transmit the control command created by the control command creation unit 71, and the trigger information created by the trigger information creation unit 72, to a destination such as an object, through the transmit/receive part. For example, when a controlled object is communicatively connected to ECU 7 (7A-i, 7B-j) with a direct line, the transmission processing unit 73 transmits the control command created by the control command creation unit. 71, for the controlled object, through the direct line. In addition, the transmission processing unit 73 sends a CAN frame that includes the triggering information to CAN 9 via the transmit/receive part (transmits the CAN frame to the recording ECU 6 information via of CAN 9).
[0075] Referring next to Figure 8, a specific processing content of ECU 6 of recording information will be described.
[0076] Figure 8 is a functional block diagram of the information recording ECU 6. Each of the functions, excluding a vehicle information storage unit 110 and an incoming information storage unit 111, can be implemented by executing various programs stored in ROM 13 on the CPU 11. The vehicle information storage unit 110 and received information storage unit 111 are performed by storing the areas specified in advance in nonvolatile memory 14.
[0077] Like the control command creation unit 71 of ECU 7 (7A-i, 7B-j), a control command creation unit 101 creates a control command associated with a pre-specified type of control behavior. vehicle. However, the control command creation unit 101 creates a control command associated with a different type of vehicle behavior from ECU 7 (7A-i, 7B-j). As an example, the control command creation unit 101 creates a control command associated with the "activation of an occupant protection assist device (such as a seat belt pretensioner)". When a pre-specified operating condition is satisfied, the control command creation unit 101 creates the control command (operating command), and a transmission processing unit 103 which will be described later transmits the control command to the device. of occupant protection assistance via the transmit/receive portion 25.
[0078] Like the trigger information creation unit 72 of ECU 7 (7A-i, 7B-j), a trigger information creation unit 102 creates information (trigger information) concerning a trigger to record trigger information. vehicle corresponding to the pre-specified type of vehicle behavior ("activation of the occupant protection assistance device"). More specifically, the trigger information creation unit 102 sets a trigger establishment flag F1-J, according to the flowchart (steps S101 to S104) shown in Figure 7, and creates trigger information that includes the establishment flag trigger F1-J.
[0079] Information recording ECU 6 can be arranged not to perform control associated with vehicle behavior of a type to be detected (control associated with "Occupant Protection Assist Device Activation"). Namely, information recording ECU 6 can be configured to specialize in the operation to detect vehicle behavior of a type to be controlled by ECU 7 (7A-i, 7B-j), and record vehicle information corresponding to the detected type of vehicle behavior. In that case, the control command creation unit 101 and the trigger information creation unit 102 are omitted.
[0080] The transmission processing unit 103 performs the operation to issue the control command created by the control command creating unit 101, to a destination as a controlled object, via the transmit/receive part.
[0081] A receiving processing unit 104 performs the operation to receive a communication frame (CAN frame) from CAN 9, via the transmit/receive part 25.
[0082] A recording area allocation unit 105 allocates a recording area to record vehicle information specified in advance for each type of vehicle behavior to be detected, in the vehicle information storage unit 110, for each type of vehicle. vehicle behavior to be detected. In the following description, when the recording area allocation driver to record vehicle information corresponding to the type of vehicle behavior to be detected, and such recording area are mentioned, expressions such as "allocate the recording area to the type of vehicle behavior to be detected", and the "recording area allocated to the type of vehicle behavior to be detected", will be used, for the sake of simplicity.
[0083] The vehicle information storage unit 110 has a recording area (base recording area) that can be allocated, for each vehicle behavior of all types to be detected which includes the activation of optional functions . Since the vehicle information storage unit 110 (non-volatile memory 14) can have a relatively low capacity, as described above, each base recording area is often limited to a capacity that allows recording of vehicle information corresponding to the required minimum number of detection times, which is specified in advance for each type of vehicle behavior to be detected. The required minimum number of detection times corresponds to the number of data items at the minimum level necessary to allow useful analysis to be performed, based on vehicle information data recorded in the base recording area. While the required minimum number of detection times may differ between the types of vehicle behaviors to be detected, it could be around five times, for example. Namely, each base recording area that can be allocated in the vehicle information storage unit 110 is often set to a capacity specified in advance for each vehicle behavior to be detected (the capacity that allows the storage of vehicle information corresponding to the number of detection times at the minimum level necessary to perform useful analysis, or a capability obtained by adding some extra amount to that capability). In this way, the recording area (base recording area) that can be allocated for each type of vehicle behavior to be detected is limited to the minimum required capacity, so that the recording area can be allocated to each of the vehicle behaviors to be detected. vehicle of all types to be detected, even when the vehicle information storage unit 110 has a relatively low capacity.
[0084] To the types (the number of which is L) of vehicle behaviors such as activation of default functions and vehicle behaviors caused by particular manipulations, among the types (the number of which is J) of vehicle behaviors to be detected , pre-specified recording areas RA1-1, RA1-2, ..., RA1-L (base recording areas) are allocated respectively without fail in vehicle information storage unit 110 (L<J). For example, in the off-line stage of the vehicle, the pre-specified recording areas RA1-1, RA1-2, ., RA1-L are allocated respectively to vehicle behavior types such as activation of default functions and vehicle behaviors caused by particular manipulations. The recording area allocation unit 105 can allocate the pre-specified recording areas RA1-1, RA1-2, ., RA1-L to types of vehicle behaviors such as activation of default functions and vehicle behaviors caused by particular manipulations, when the vehicle is started for the first time. In the following description, recording area RA1-n (n=1, 2, ., L) denotes any of the allocable recording areas RA1-1 to RA1-L.
[0085] On the other hand, recording areas RA2-1, RA2-2, ., RA2-I (base recording areas) are prepared in the vehicle information storage unit 110, for the types (the number of which is I) as the activation of optional functions (first vehicle behaviors), among the types of vehicle behaviors to be detected, as described above. However, at the off-line stage of the vehicle or at the completion stage of the initial start-up of the vehicle, the allocation of recording areas RA2-1, RA2-2, ., RA2-I was not conducted. In the following description, the recording area RA2-m (m=1, 2, ., I) denotes any of the recording areas RA2-1 to RA2-I.
[0086] The recording area allocation unit 105 performs the operation as described below, to determine whether a certain optional function has been installed in the vehicle, and allocates a recording area RA2-m to the vehicle behavior type such as activation of the optional function for the first time, the time it is determined that the optional function has been installed in the vehicle. When the recording area allocation unit 105 determines that a certain optional function has not been installed in the vehicle, a recording area RA2-m which can be allocated to the activation of the optional function (first vehicle behavior) is allocated, such as an area of additional recording, to the vehicle behavior (depending on the vehicle behavior) of a different type of activation of the optional function. With reference to Figure 9, the flow of processing performed by the recording area allocation unit 105 will be described.
[0087] Information (recording area information) regarding the recording area allocated for each type of vehicle behavior to be detected is stored in non-volatile memory 14, for example, and recording area allocation unit 105 defines (updates) the recording area information, according to a control routine shown in Figure 9. The allocation of recording areas is realized by ensuring that a program (application) corresponding to each recording processing unit 108 (unit of recording processing 108-k that will be described later) corresponding to each vehicle behavior of a type is detected, privilege access to a range of addresses in the non-volatile memory 14 corresponding to the recording area. Namely, the recording area allocation unit 105 allocates a certain recording area to a certain vehicle behavior of a type to be detected, so as to allow the recording processing unit 108-k corresponding to the vehicle behavior to record information corresponding vehicle information in the recording area, and inhibit the recording processing unit 108-k corresponding to a different type of vehicle behavior from recording corresponding vehicle information in the recording area.
[0088] Figure 9 is a flowchart that conceptually illustrates an example of a recording area that allocates the routine executed by the recording area allocation unit 105. The routine of the flowchart is executed at given intervals, during a period from start to finish. vehicle stop. Namely, the routine is executed when the vehicle is started, and then executed repeatedly at given intervals until the vehicle is stopped.
[0089] A setup flag F2-1 to F2-I is an example of received information that indicates whether a transmit signal (in this mode, a CAN frame that includes trigger information) corresponding to each optional function has been received, and is a flag that indicates whether each optional function has been installed in the vehicle. In the following description, the installation flag F2-m (m=1, 2, ..., I) denotes any of the installation flags F2-1 through F2-I. The installation flag F2-m is set to "0", in the off-line stage of the vehicle (when the vehicle is started for the first time). The information (installation flag information) of the installation flag F2-m set by the recording area allocation unit 105 is stored in the received information storage unit 111.
[0090] In step S201, recording area allocation unit 105 obtains installation flag information (installation flags F2-1 to F2-I) stored in received information storage unit 111.
[0091] In step S202, recording area allocation unit 105 sets a counter value m to "0" (m=0).
[0092] In step S203, the recording area allocation unit 105 increases the value of counter m (m=m+1).
[0093] In step S204, the recording area allocation unit 105 determines whether the installation flag F2-m is "1", namely, if an optional function corresponding to the current counter value m is installed. If setup flag F2-m is not "1" (if it is "0"), recording area allocation unit 105 proceeds to step S205. If installation flag F2-m is "1", recording area allocation unit 105 skips steps S205 to S209, and proceeds to step S210. Namely, once the installation flag F2-m becomes "1", the operation of determining step S205 (which will be described later) is not performed, and the state in which the installation flag F2-m is " 1" (namely, the determination that the corresponding optional function has been installed) is fixed or confirmed. Then, through the operation of step S206 (which will be described later), the allocation of recording area RA2-m for activating the corresponding optional function is fixed (allocation of recording area RA2-m will not be changed).
[0094] In step S205, the recording area allocation unit 105 determines whether the receiving processing unit 104 has received a transmit signal corresponding to the optional function. In this mode, the ECU 7A-i, in response to the activation of the optional function, transmits trigger information on a regular basis, using the CAN frame that has a CAN-ID unique to the corresponding optional function, during a period between the start and stopping the vehicle as described above. Therefore, if the receiving processing unit 104 receives the CAN frame that includes the trigger information that is regularly issued to the CAN 9, the recording area allocation unit 105 can determine that the optional function corresponding to the counter value current m has been installed. Namely, in step S205, the recording area allocation unit 105 determines whether the receiving processing unit 104 has received the CAN frame that includes the trigger information regarding the activation of the optional function corresponding to the current counter value m. When the CAN frame including the trigger information is received, the recording area allocation unit 105 determines that the corresponding optional function has been installed, and proceeds to step S206. On the other hand, when the CAN frame including the trigger information is not received, the recording area allocation unit 105 determines that the corresponding optional function has not been installed, and proceeds to step S208.
[0095] In step S206, recording area allocation unit 105 sets installation flag F2-m to "1" (updates installation flag F2-m stored in incoming information storage unit 111).
[0096] Then, in step S207, the recording area allocation unit 105 allocates the recording area RA2-m to the vehicle behavior type as the corresponding optional function activation (first vehicle behavior). More specifically, setting (updating) the recording area information is performed.
[0097] On the other hand, in step S208, the recording area allocation unit 105 sets (holds) the installation flag F2-m to (at) "0".
[0098] Then, in step S209, the recording area allocation unit 105 allocates the recording area RA2-m to the vehicle behavior (second vehicle behavior) of a different type from the vehicle behavior type such as activation of the corresponding optional function. More specifically, setting (maintenance or updating) of recording area information is performed.
[0099] In step S210, the recording area allocation unit 105 determines whether the value of counter m is equal to or greater than I as the number of activation types of optional functions, among vehicle behaviors of the types to be detected . If the value of counter m is equal to or greater than I, the recording area allocation unit 105 terminates the current cycle of the routine, as the determination in the installation of all optional functions is complete. If the value of counter m is less than I, the recording area allocation unit 105 returns to step S203, increases the value of counter m, and repeats steps S204 to S210.
[00100] If a certain optional function then ends up being installed due to a fault, or the like, an external tool (fault diagnosis tool) is connected to CAN 9, via a DLC3 connector provided in the vehicle, for example , and a command corresponding to a reset condition is transmitted from the external tool to the information recording ECU 6, so that the installation flag F2-m can be set to the initial value ("0").
[00101] Referring now to Figure 10A to Figure 10C, and to Figure 11A and Figure 11B, a specific example of the operation to set recording area information (operation to allocate recording areas) will be described.
[00102] Figure 10A to Figure 10C are views useful to explain an example of the operation to allocate recording areas (operation to set recording area information) by recording area allocation unit 105. More specifically, presuming it The types of vehicle behaviors to be detected are 6 types (J=6), i.e. the "VSC activation", the "ABS activation", the "TRC activation", the "VSC alert activation", PCS", the "PCS brake activation", and the "LKA activation", the conditions for the allocation of recording areas RA1-1 to RA1-3, and recording areas RA2-1 to RA2-3, in the vehicle information storage unit 110, areas of which can be allocated to the respective types of vehicle behaviors, are shown. More specifically, Figure 10A shows the allocation conditions of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3, in the off-line stage of the vehicle. Figure 10B shows the allocation conditions of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3, in case it is determined that all PCS alert, PCS brake and LKA as optional functions were installed in the vehicle. Figure 10C shows the allocation conditions of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3, in case it is determined that only the PCS alert function, among the optional functions , has been installed.
[00103] In this mode, the information recording ECU 6 does not perform the control associated with the "activation of the occupant protection assistance device". Namely, it is assumed that the information recording ECU 6 does not include the control command creation unit 101 and the trigger information creation unit 102.
[00104] As shown in Figure 10A, in the vehicle off-line stage, recording areas RA1-1 to RA1-3 are allocated in advance as recording areas (base recording areas) corresponding to the types of vehicle behaviors as activation of standard functions. More specifically, recording areas RA1-1, RA1-2, RA1-3 are allocated in advance to "VSC activation", "ABS activation", and "TRC activation", respectively.
[00105] As described above, the allocation of recording areas RA1-1 to RA1-3 to vehicle behavior types can be conducted by the recording area allocation unit 105 at the time the vehicle is started for the first time . When the vehicle behaviors to be detected include vehicle behaviors caused by particular manipulations, or the like, in addition to activating the standard functions ("VSC activation", "ABS activation", and "TRC activation"), the types of vehicle behaviors caused by the particular manipulations are handled in the same way as vehicle behavior types as the activation of the default functions. Namely, the recording areas corresponding to the types of vehicle behaviors caused by particular manipulations are allocated in advance in the off-line stage of the vehicle, or are allocated in the same way as when the vehicle is started for the first time.
[00106] As shown in Figure 10A, recording areas RA2-1 to RA2-3, recording areas (base recording areas) that can be allocated for activating optional functions are not allocated to any kind of behavior vehicle, in the off-line stage of the vehicle.
[00107] As described above, the recording area allocation unit 105 executes the recording of the area that allocates the routine shown in Figure 9 when the vehicle is started. For example, the recording area allocation unit 105 executes the routine of Fig. from the end of the vehicle departure. In this way, when the optional function is installed, the information recording ECU 6 is able to receive a transmission signal corresponding to the optional function, namely a CAN frame that includes the trigger information. Therefore, in the routine of Figure 9, the install flag F2-m corresponding to the optional function is set to "1", and the determination that the optional function has been installed is fixed. Then, the recording area RA2-m is allocated to the vehicle behavior type as the activation of the optional function. On the other hand, when the optional function is not installed, the information recording ECU 6 is not able to receive a broadcast signal corresponding to an optional function, namely a CAN frame that includes trigger information. Therefore, in the routine of Figure 9, the install flag F2-m corresponding to the optional function is kept at "0", and it is determined that the optional function has not been installed. Then, the recording area RA2-m is allocated to the vehicle behavior of a different type of activation of the optional function.
[00108] As shown in Figure 10B, if the recording area allocation unit 105 determines upon vehicle start-up that all the PCS alert functions, the PCS brake function, and the LKA function are installed as optional functions, the unit 105 allocates the respective recording areas (base recording areas) to the activation of the corresponding optional functions. More specifically, recording areas RA2-1, RA2-2, RA2-3 are allocated to "LKA activation", "PCS alert activation", and "PCS brake activation", respectively.
[00109] As shown in Figure 10C, if the recording area allocation unit 105 determines upon vehicle start-up that only the PCS alert function, among the optional functions, has been installed, the unit 105 allocates the recording area. recording RA2-2 to "PCS alert activation". Then, recording areas RA2-1, RA2-3 that can be allocated to activating the PCS and LKA brake functions (first vehicle behaviors), which are determined not to be installed, are allocated to vehicle behaviors (seconds vehicle behaviors) of different types from the activation of optional functions. More specifically, recording areas RA2-1, RA2-3 are allocated respectively as recording areas (additional recording areas) for "VSC activation" and "TRC activation" as the activation of standard functions.
[00110] In this way, it can be determined whether a certain optional function is installed, based on whether the transmission signal corresponding to the optional function has been received or not. Therefore, when it is determined that the optional function has not been installed, the recording area RA2-m which can be allocated for activating the optional function (first vehicle behavior) can be effectively used as a recording area (additional recording area ) corresponding to a different type of vehicle behavior (second vehicle behavior).
[00111] The information recording ECU 6 may not be able to receive a transmit signal corresponding to an optional function (a CAN frame that includes trip information regarding the activation of the optional function) when the vehicle is started, due to to a communication failure, or a difference in startup timing between ECU 6 writing information and ECU 7 (7A-i, 7B-j), for example. However, since the routine in Figure 9 is repeated during the period from start to stop of the vehicle, as described above, the transmission signal corresponding to the optional function (CAN board that includes trigger information regarding the activation of the optional function) may be received, after ECU 6 has recovered from the communication failure, or the like. Consequently, even when CAN frames that include trigger information regarding "PCS brake activation" and "LKA activation" cannot be received, at the time of vehicle departure, and the allocation of recording areas is conducted As shown in Figure 10C, the recording area allocation unit 105 can then determine that the PCS and LKA brake functions have been installed, and update the recording area allocation, under the conditions shown in Figure 10B.
[00112] Next, Figure 11A and Figure 11B are useful views to explain another example of the operation to allocate recording areas (operation to set recording area information) by recording area allocation unit 105. How Figure 10A to Figure 10C, each of Figure 11A and Figure 11B show allocation conditions of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3 in the information storage unit of vehicle 110.
[00113] As shown in Figure 11A, the RA2-m recording area that can be allocated for the activation (first vehicle behavior) of an optional function that is determined not to be installed on the vehicle can be further divided into two or more recording areas, which can be allocated as additional recording areas for different vehicle behaviors (second vehicle behaviors). Figure 11A shows recording area allocation conditions similar to those of Figure 10C. More specifically, the RA2-3 recording area that can be allocated for "TRC activation" is divided into RA2-3a, RA2-3b recording areas, which are allocated as additional recording areas for "ABS activation" and "TRC activation", respectively.
[00114] As shown in Figure 11B, the RA2-m recording area that can be allocated for activation (first vehicle behavior) of an optional function that is determined not to be installed in the vehicle can be allocated for activation (according to vehicle behavior) of a different type of optional function that has already been determined to be installed in the vehicle. Figure 11B shows recording area allocation conditions similar to those of Figure 10C. More specifically, the RA2-3 recording area that can be allocated for the "PCS brake activation" that is determined not to be installed in the vehicle is allocated as an additional recording area for the "PCS alert activation" that has already been installed as installed on the vehicle. Generally, the number of vehicle information data that is absolutely collectable tends to be small, relative to vehicle information data corresponding to activation of optional functions, compared to those for activation of standard functions and vehicle behaviors caused by particular manipulations. In this way, if the allocation operation described above is performed, an increased number of vehicle information corresponding to the activation of the optional function that has already been determined to be installed can be collected.
[00115] Referring back to Figure 8, the data recording unit 106 includes the data recording units 106-1 to 106-J provided for the respective types of vehicle behaviors to be detected. Data Writer Units 106-1 to 106-J include Data Writer Units 106-1 to 106-H supplied for 7 ECUs (ECUs 7A-1 to 7A-N and ECUs 7B-1 to 7B-M ), and a 106-J data recording unit provided for the information recording ECU 6 itself (H=J-1). In the following description, data recording unit 106-k (k=1, 2, ..., J) denotes any of data recording units 106-1 to 106-J.
[00116] The data recording unit 106 includes a vehicle behavior detection unit 107 and a recording processing unit 108. The vehicle behavior detection unit 107 and the recording processing unit 108 respectively include the units behavior detection units 107-1 to 107-J and recording processing units 108-1 to 108-J corresponding to data recording units 106-1 to 106-J (namely provided for the respective types of vehicle behaviors to be detected). In the following description, vehicle behavior detection unit 107-k denotes any one of vehicle behavior detection units 107-1 to 107-J. Also, recording processing unit 108-k denotes any of recording processing units 108-1 to 108-J.
[00117] Vehicle behavior detection units 1071 to 107-J, and recording processing units 108-1 to 108-J have substantially the same functions, respectively, except for the types of vehicle behaviors handled. The following description pertains to vehicle behavior detection unit 107-k and recording processing unit 108-k, unless otherwise stated.
[00118] Vehicle behavior detection unit 107-k detects a corresponding type of vehicle behavior as a trigger to record vehicle information, based on trigger information received from ECU 7 (Vehicle Information Creation Unit). trigger 72) via transmit/receive part 25 and CAN 9, or trigger information created by trigger information creation unit 102. Then, except for a particular case (in which case a mask condition as described later is satisfied), if the vehicle behavior detection unit 107-k detects the corresponding type of vehicle behavior, it issues a registration request to record vehicle information (vehicle information of the types specified in advance for the corresponding type behavior) at the time of detection, in the vehicle information storage unit 110. Referring next to Figure 12, the control routine performed by vehicle behavior detection unit 107-k will be described.
[00119] Figure 12 is a flowchart that conceptually illustrates an example of the control routine performed by the vehicle behavior detection unit 107-k. The routine according to this flowchart is executed repeatedly at given intervals, during a period from start to stop of the vehicle.
[00120] In step S301, the vehicle behavior detection unit 107-k determines whether it has received the trigger information regarding the corresponding type of vehicle behavior via the transmit/receive part 25. If the vehicle behavior detection unit vehicle behavior 107-k has received the trigger information, it proceeds to step S302. If it has not received the trigger information, it ends the current cycle of the routine.
[00121] Vehicle behavior detection unit 107-J uses the trigger information created by trigger information creation unit 102 in order to detect "Occupant Protection Assist Device Activation". Therefore, the vehicle behavior detection unit 107-J may omit step S301, or it may always proceed to step S302, assuming the trigger information has been received.
[00122] In step S302, the vehicle behavior detection unit 107-k determines whether the trigger establishment flag F1-k included in the trigger information regarding the corresponding type of vehicle behavior is "1". When the trigger establishment flag F1-k is "1", the vehicle behavior detection unit 107-k determines that the trigger referring to the corresponding type of vehicle behavior has been established, namely, the corresponding type of vehicle behavior vehicle has been detected, and proceeds to step S303. If the F1-k trigger establishment flag is not "1" (if it is "0"), the current cycle of this routine ends.
[00123] In step S303, the vehicle behavior detection unit 107-k determines whether a mask condition has been satisfied. The masking condition is provided to inhibit vehicle information that is stored on a regular basis from being redundantly recorded in the vehicle information storage unit 110, as will be described later. For example, the mask condition is that "the corresponding type of vehicle behavior is successively detected according to the routine of this flowchart", for example. If the mask condition is not satisfied, the vehicle behavior detection unit 107-k proceeds to step S304. If the mask condition is satisfied, the current loop of the routine ends.
[00124] In step S304, the vehicle behavior detection unit 107-k issues the registration request, and ends the current cycle of the routine.
[00125] Referring back to Figure 8, if the vehicle behavior detection unit 107-k detects the corresponding type of vehicle behavior, the recording processing unit 108-k writes the corresponding vehicle information to the unit vehicle information storage 110, at a predetermined period corresponding to the time of detection. More specifically, vehicle information specified in advance for corresponding type of vehicle behavior is stored temporarily, in predetermined cycles, and if a registration request is generated from the vehicle behavior detection unit 107-k during storage temporary, vehicle information data temporarily stored in this way (vehicle behavior data) is written to a recording area allocated in the vehicle information storage unit 110 (a recording area allocated by the recording area allocation unit 105, or a recording area allocated in advance on the vehicle's off-line stage). Referring next to Figure 13 and Figure 14, the flow of processing performed by the recording processing unit 108-k will be described.
[00126] The "predetermined period corresponding to the moment of detection" represents a concept that includes, for example, a period close to (before or after) a point in time when the corresponding type of vehicle behavior was detected, a period that starts at the time of detection, a period that ends at the time of detection, a period that starts at a point after the time of detection, and a period that ends at a point before the time of detection. Namely, since the period of vehicle information useful for the analysis may differ depending on the type of vehicle behavior, length, start delay, etc. of the predetermined period are specified in advance for each type of vehicle behavior. In this embodiment, when the corresponding vehicle behavior is detected during the temporary storage performed in predetermined cycles, the corresponding data of vehicle information temporarily stored in this way is recorded, namely, the vehicle information of a predetermined near period (before or after ) to the point in time when the corresponding type of vehicle behavior was detected are recorded.
[00127] Figure 13 is a flowchart that conceptually illustrates an example of a data recording routine performed by the recording processing unit 108-k. The routine of this flowchart is executed at predetermined intervals, during a period from start to stop of the vehicle.
[00128] In step S401, the recording processing unit 108-k sets a timer.
[00129] The time set in the timer expires when a pre-specified time (recording time) T1 expires. The recording time T1 is specified in advance for each corresponding type of vehicle behavior.
[00130] In step S402, the recording processing unit 108-k starts the temporary storage of vehicle information specified in advance for the corresponding type of vehicle behavior. The staging of vehicle information is conducted using a ring staging in RAM 12 that is defined for each corresponding type of vehicle behavior.
[00131] In step S403, the recording processing unit 108-k determines whether the time set in the timer has expired. If the time is up, the recording processing unit 108k proceeds to step S404. If the time has not expired, the recording processing unit 108-k repeats the execution of step S403 until the time runs out.
[00132] In step S404, the recording processing unit 108-k finishes the temporary storage of vehicle information specified in advance for the corresponding type of vehicle behavior.
[00133] In step S405, recording processing unit 108-k determines whether a recording request has been generated from vehicle behavior detection unit 107-k associated with the corresponding type of vehicle behavior during temporary storage vehicle information according to this routine. If the registration request is generated, the recording processing unit 108-k proceeds to step S406. If no registration request is generated, the current cycle of the routine ends.
[00134] In step S406, recording processing unit 108-k obtains recording area information in non-volatile memory 14.
[00135] In step S407, the recording processing unit 108-k recognizes the recording area allocated to the corresponding type of vehicle behavior, based on the recording area information, and performs the operation to record vehicle information data temporarily stored in ring temporary storage in the recording area. Then, the current loop of the routine ends.
[00136] Thus, according to the control routine of this flowchart, if the vehicle behavior detection unit 107-k detects the corresponding type of vehicle behavior and issues the registration request, during the temporary storage of vehicle information specified in advance for the corresponding type of vehicle behavior, the vehicle information data temporarily stored in this way is recorded in the recording area allocated in the vehicle information storage unit 110 after the end of the temporary storage.
[00137] Next, Figure 14 is a flowchart that conceptually illustrates another example of a data recording routine performed by the recording processing unit 108-k. The routine of this flowchart is executed at predetermined intervals, during a period from start to stop of the vehicle.
[00138] In step S501, the recording processing unit 108-k sets a timer, as in step S401.
[00139] In step S502, recording processing unit 108-k begins temporary storage of vehicle information specified in advance for the corresponding type of vehicle behavior, as in step S402.
[00140] In step S503, the recording processing unit 108-k determines whether the time set in the timer has expired. If the time is up, the recording processing unit 108k proceeds to step S510, and ends the temporary storage of vehicle information specified in advance for the corresponding type of vehicle behavior, and ends the current cycle of the routine. If the time is not expired, the recording processing unit 108-k proceeds to step S504.
[00141] In step S504, the recording processing unit 108-k determines whether a recording request has been generated from the vehicle behavior detection unit 107-k associated with the corresponding type of vehicle behavior. If a registration request is generated, the recording processing unit 108-k proceeds to step S505. If the registration request is not generated, the recording processing unit 108-k returns to step S503, and repeats steps S503, S504.
[00142] In step S505, recording processing unit 108-k obtains recording area information in non-volatile memory 14.
[00143] In step S506, the recording processing unit 108-k recognizes the recording area allocated to the corresponding type of vehicle behavior, based on the recording area information, and starts the operation to record vehicle information data temporarily stored in ring temporary storage in the recording area.
[00144] In step S507, the recording processing unit 108-k determines whether the time set in the timer has expired. If the time is up, the recording processing unit 108k proceeds to step S508. If not, the recording processing unit 108-k repeats step S507.
[00145] In step S508, the recording processing unit 108-k finishes temporarily storing vehicle information specified in advance for the corresponding type of vehicle behavior.
[00146] Then, in step S509, the recording processing unit 108-k finishes the recording operation, and ends the current cycle of the routine.
[00147] Thus, according to the routine of Figure 14, if the vehicle behavior detection unit 107-k detects the corresponding type of vehicle behavior, and issues the registration request, recording vehicle information that are temporarily stored in the recording area allocated in the vehicle information storage unit 110 is immediately started. In particular, in the case of vehicle behavior (such as "PCS brake activation") of vehicle collision related types, if the registration operation is performed after the end of temporary storage, there is a possibility that the data will not may be written to the vehicle information storage unit 110 due to collision during temporary storage. Therefore, the routine according to the flowchart of Figure 14 is employed, so that the vehicle information data that are temporarily stored can be reliably recorded.
[00148] As shown in Figure 12, when certain optional function is not installed on the vehicle, and the trigger information (CAN board which includes the trigger information) corresponding to the vehicle behavior (first vehicle behavior) such as the activation of the optional function cannot be received, no registration request is generated. Therefore, vehicle information specified in advance for activating the optional function that has not been installed in the vehicle is not written to the vehicle information storage unit 110, even if temporary storage is performed according to the routine shown in Figure 13. or in Figure 14. Further, if the recording area allocated by recording area allocation unit 105 for the corresponding type of vehicle behavior is filled with vehicle information data, recording processing unit 108-k records vehicle information data that is temporarily stored again by recording the data on old recorded vehicle information data. Furthermore, it is possible to take the vehicle information data recorded by the 108-k recording processing unit to the outside of the vehicle by connecting an external tool (tool for fault diagnosis) to CAN 9, e.g. by means of a DLC3 connector, or the like, provided in the vehicle, and transmit a command from the external tool to the ECU 6 for recording information, for example.
[00149] Referring next to Figure 15, an operation timing graph of the integrated recording system 1 according to this embodiment will be described.
[00150] Figure 15 is the operating timing graph of the integrated recording system 1 according to this mode. Section A (labeled "INSTALLATION FLAG F2-1") of Figure 15 shows the change in value of an installation flag F2-1 that indicates whether the PCS alert as an optional function is installed, with time. Section B (labeled "ABS ACTIVATE") of Figure 15 and Section C (labeled "ABS ACTIVATE") of Figure 15 are timing graphs that indicate one example and another example of data recording unit processing operation. 106-k corresponding in case ABS, as a standard function, is activated ("ABS activation" is detected). Section D (labeled "PCS ALERT") of Figure 15 is a timing graph showing an example of processing operation of the corresponding 106-k data recording unit in case the PCS alert, as an optional function, be activated ("PCS alert activation" has been detected).
[00151] In this example, it is assumed that the information writing ECU 6 (receive processing unit 104) has failed to receive a CAN frame that includes trigger information regarding the "PCS alert activation", which frame is generated from PCS-ECU 7A-1 (its trigger information creation unit 72) to CAN 9, when the vehicle was started, due to a failure in communication, or a difference in start-up timing between the information recording ECU 6 and various ECUs 7. It is also assumed that the recording area allocation unit 105 allocates the recording areas for "ABS activation" and "PCS alert activation", by the methods shown in Figure 10A to Figure 10C. It is also assumed that the operation to record vehicle information corresponding to the "ABS activation" is performed by executing the routine according to the flowchart shown in Figure 13, and the operation to record the vehicle information corresponding to the "alert activation" of PCS" is performed by executing the routine according to the flowchart shown in Figure 14.
[00152] As shown in section A, the "INSTALLATION FLAG F2-1" of Figure 15, in this example, the recording area allocation unit 105 receives a transmit signal corresponding to the PCS alert (a CAN frame that includes triggering information regarding "PCS alert activation") at time ta0, and installation flag F2-1 which indicates whether the PCS alert that is installed is updated from "0" to "1" or not. As a result, the recording area allocation unit 105 determines that the PCS alert function has been installed; therefore, after moment ta0, recording area RA2-2 is allocated for "PCS alert activation" (see Figure 9 and Figure 10A to Figure 10C).
[00153] In an example shown in section B "ABS ACTIVATION" of Figure 15, vehicle behavior detection unit 107k detects "ABS activation", at time tb1 before time ta0. Then, after the end of the temporary storage of corresponding vehicle information, the corresponding recording processing unit 108-k begins operation to record the temporarily stored vehicle information at time tb2 before time ta0. Before time ta0, recording area allocation unit 105 determines that the PCS alert function has not been installed, and sets recording area information; therefore, the 108-k recording processing unit records vehicle information temporarily stored in recording area RA1-2 or recording area RA2-2. Thus, when the recording area allocation unit 105 determines that the PCS alert function has not been installed, the recording area RA2-2 which can be allocated for "PCS alert activation" is allocated as an area additional recording for the "ABS activation" of a different type of "PCS alert activation". Therefore, even in a situation where the RA1-2 recording area as the base recording area is full, for example, it is possible to record the vehicle information temporarily stored in the RA2-2 recording area, without overwriting, and a increased volume of corresponding vehicle information data can be recorded.
[00154] On the other hand, in another example shown in section C "ABS ACTIVATION" of Figure 15, the vehicle behavior detection unit 107-k detects the "ABS activation", at time tc1 before time ta0. Then, after the end of the temporary storage of the corresponding vehicle information, the recording processing unit 108-k begins the operation to record the temporarily stored vehicle information, at time tc2 after time ta0. After time ta0, the recording area allocation unit 105 determines that the PCS alert function has been installed, and sets the recording area information; therefore, the recording processing unit 108-k records vehicle information temporarily stored in the recording area RA1-2 as the base recording area. Also, as shown in the "PCS ALERT" section D of Figure 15, if the vehicle behavior detection unit 107-k detects the "PCS alert activation", after the ta0 time, the recording processing unit 108-k can record vehicle information corresponding to "PCS alert activation" in RA2-2 recording area, as RA2-2 recording area has already been allocated for "PCS alert activation".
[00155] Thus, when the recording area allocation unit 105 determines that the PCS alert function has been installed, it allocates the recording area RA2-2 exclusively for "PCS alert activation". Namely, when the recording area allocation unit 105 determines that the PCS alert has been installed, it allows the vehicle information corresponding to the "PCS alert activation" to be recorded in the dedicated recording area RA2-2, and inhibits vehicle information corresponding to a different type of vehicle behavior ("ABS activation") from being written to the RA2-2 recording area. Consequently, after PCS alert installation is determined, only vehicle information corresponding to "PCS alert activation" is recorded in recording area RA2-2; therefore, the reliability of vehicle information data (vehicle behavior data) recorded in correspondence with "PCS alert activation" can be guaranteed. Also, as shown in section C "ABS ACTIVATION" of Figure 15, even if the installation flag F2-1 is "0" when "ABS activation" is detected, the recording area allocation unit 105 does not allows (inhibits) vehicle information corresponding to "ABS activation" to be (from being) written to the RA2-2 recording area which can be allocated for the "PCS alert activation", if installation flag F2- 1 is "1" when the corresponding vehicle information is written (when the registration operation starts). In this way, the reliability of vehicle information data corresponding to the activation of the optional function ("PCS alert activation") recorded in the base recording area (recording area RA2-2) can be more properly guaranteed. Namely, the determination as to whether the optional function has been installed in the vehicle is fixed or confirmed, not at the time when the second vehicle behavior ("ABS activation") is detected, but at the time when the corresponding vehicle information is , in fact, recorded. With this arrangement, in the event that the transmission signal corresponding to the optional function cannot be received, due to a communication failure, for example, it is less likely or unlikely that the vehicle information, corresponding to the second vehicle behavior, other than the activation of the optional function, are recorded in the recording area, which can be allocated to the optional function.
[00156] In a condition where vehicle information corresponding to "ABS activation" is written to recording area RA2-2, for example, recording area allocation unit 105 may determine that the PCS alert function has been installed, and can allocate RA2-2 recording area for "PCS alert activation". In this case, if the vehicle behavior detection unit 107-k detects the "PCS alert activation", the corresponding recording processing unit 108-k records the vehicle information data temporarily stored, initially in an area in the which vehicle information corresponding to "ABS activation" has not been recorded. If the RA2-2 recording area becomes full, overwriting is performed on vehicle information data corresponding to the "ABS activation". Furthermore, in an example of section B "ABS ACTIVATION" of Figure 15, the recording processing unit 108-k corresponding to "ABS activation" can record the corresponding data of temporarily stored vehicle information, about the areas of recording RA1-2, RA2-2, for example. Namely, the recording processing unit 108-k corresponding to the "ABS activation" records the corresponding vehicle information in at least one of the base recording area and the additional recording area.
[00157] In the mode described above, the ECU 7A-i (its transmission processing unit 73) corresponding to the activation of an optional function, emits a transmission signal corresponding to the optional function (a CAN frame that has a CAN-ID only assigned to the optional function, the CAN board which includes triggering information regarding the activation of the optional function), to the integrated network, via the transmit/receive part. Then, the information recording ECU 6 (receiving processing unit 104) receives the transmit signal, so as to determine whether the optional function has been installed. More specifically, the recording area allocation unit 105 determines whether the transmit signal has been received, so as to determine whether the optional function has been installed, and sets the installation flag F2-1 to F2-I as received information indicating whether the broadcast signal has been received. When the setup flag F2-m indicates that the transmit signal has been received (namely, the flag is "1"), the recording area allocation unit 105 allocates a base recording area (first area) in the unit vehicle information storage 110 for activating the corresponding optional function (first vehicle behavior). Namely, the vehicle information (first vehicle information) corresponding to the activation of the optional function is allowed to be recorded in the first area (base recording area) in the vehicle information storage unit 110, and the information is allowed to vehicle information (second vehicle information) corresponding to vehicle behavior (second vehicle behavior) of a type other than the optional function are recorded in the second area (base recording area), while the second vehicle information is inhibited from being recorded in the first area. On the other hand, when the setup flag F2-m indicates that the transmit signal has not been received (namely, the flag is "0"), the recording area allocation unit 105 allocates a recording area (first area ) which can be allocated for an activation of the corresponding optional function, such as an additional recording area for a different type of vehicle behavior (second vehicle behavior). Namely, when the second vehicle behavior is detected by the vehicle behavior detection unit 107-k, the vehicle information (second vehicle information) corresponding to the second vehicle behavior is allowed to be recorded in the recording area (first area) which can be allocated for an optional function activation, in addition to the base recording area (second area). In this way, when an optional function is not installed on the vehicle, the recording area (first area) that can be used to record vehicle information corresponding to the activation of the optional function (first vehicle behavior) can be used as a recording area. additional feature to record vehicle information corresponding to another type of vehicle behavior (second vehicle behavior). In particular, since the vehicle information storage unit 110 (non-volatile memory 14) is likely to have a relatively low capacity, as described above, the base recording area that can be allocated for each vehicle behavior of types to be detected is often limited to the minimum level of capability at least necessary for useful analysis. Consequently, if the recording area corresponding to the vehicle behavior (second vehicle behavior) of a different type of activation of the optional function is expanded, the usefulness of the analysis on the second vehicle behavior can be further enhanced.
[00158] When an optional function is installed, vehicle information corresponding to the first vehicle behavior such as the activation of the optional function, and vehicle information corresponding to the second vehicle behavior of a different type from the first vehicle behavior are respectively recorded in different recording areas (first area and second area) in the vehicle information storage unit 110. Therefore, the reliability of vehicle information data corresponding to the activation of the optional function (first vehicle behavior) can be guaranteed.
[00159] In this modality, in the CAN 9 structure as an integrated network installed widely in vehicles, a transmission signal can be perceived only by assigning a unique CAN-ID to each steering assistance function. Therefore, the increase in cost of the integrated recording system as a whole can be suppressed.
[00160] Next, the second mode will be described.
[00161] The integrated recording system 1 according to this modality is different mainly from the first modality, in which the triggering information creation unit 72 in ECU 7 (7A-i, 7B-j) is omitted, and the processing performed by the information recording ECU 6 (the recording area allocation unit 105, the vehicle behavior detection unit 107) is different.
[00162] Initially, the configuration of ECU 7 (7A-i, 7B-j) according to this mode will be described.
[00163] As described above, ECU 7 (7A-i, 7B-j) according to this embodiment does not include the trigger information creation unit 72 shown in Figure 6, it is contrasted with the first embodiment.
[00164] Control command creation unit 71 creates a control command associated with vehicle behavior (a control command to activate a steering assistance function), as in the first embodiment.
[00165] The transmit processing unit 73 transmits the control command created by the control command creation unit 71, to a controlled object as a destination, via a transmit/receive part, and also issues the control command. CAN control 9. When the ECU 7A-i, in response to the activation of an optional function, issues a control command associated with the activation of the optional function, it uses a CAN board that has a CAN-ID assigned uniquely to the function optional. Namely, the control command associated with the activation of the optional function corresponds to the transmission signal corresponding to the optional function. Therefore, the recording area allocation unit 105 can determine whether the optional function is installed in the vehicle, when the receiving processing unit 104 receives the control command as the transmit signal corresponding to the optional function, via the transmit/receive 25. Referring next to Figure 16, the flow of a recording area allocating the routine (recording area information definition routine) executed by the recording area allocation unit 105 will be described .
[00166] When the controlled object and ECU 7 (7A-i, 7B-j) are connected via CAN 9 so that they can communicate with each other, the control command created by the creation unit control command 71 is generated to CAN 9 via the transmit/receive part (and transmitted to the controlled object via CAN 9).
[00167] Figure 16 is a flowchart that conceptually illustrates an example of the recording area that allocates the routine (routine to define recording area information) executed by recording area allocation unit 105. The routine according to the flowchart of Figure 16 is performed at predetermined intervals, during a period from start to stop of the vehicle, as in the first embodiment (Figure 9). Namely, the routine is executed when the vehicle is started, and then executed repeatedly at predetermined intervals until the vehicle is stopped.
[00168] The processing of steps S601 to S604, and of steps S606 to S610, in the flowchart of Figure 16 is substantially the same as that of steps S201 to S204, and of steps S206 to S210 in Figure 9 and therefore will not be explained in this document.
[00169] In step S605, the recording area allocation unit 105 determines whether the receiving processing unit 104 has received a transmit signal corresponding to an optional function. In this mode, as described above, the ECU 7A-i, in response to the activation of an optional function, transmits a control command associated with the activation of the optional function, using a CAN frame that has a CAN-ID unique to the corresponding optional function. Namely, ECU 7A-i transmits the control command to activate the optional function. Therefore, when the receiving processing unit 104 receives the CAN frame as the control command associated with activating the optional function, the recording area allocation unit 105 can determine that the optional function corresponding to the current counter value m has been installed. Namely, in step S605, the recording area allocation unit 105 determines whether the receiving processing unit 104 has received the CAN frame as the control command associated with activating the optional function corresponding to the current counter value m. If the recording area allocation unit 105 has received the CAN frame as the control command, it determines that the corresponding optional function has been installed, and proceeds to step S606. On the other hand, if the recording area allocation unit 105 has not received the CAN frame, it determines that the corresponding optional function has not been installed, and proceeds to step S608.
[00170] In this way, the control command to activate the steering assistance function is also used as the transmission signal corresponding to the optional function, to determine whether the optional function has been installed. In this way, compared to the case where a dedicated broadcast signal is provided, the cost of the integrated recording system as a whole can be reduced, and the processing load of the ECU 7A-i in response to the activation of the optional function can be reduced. be reduced.
[00171] ECU 7 (7A-i, 7B-j) can issue a notification to the effect that a control command is created, for CAN 9, in place of the control command itself. Namely, when ECU 7A-i, in response to the activation of an optional function, issues a CAN frame that informs that a control command associated with the activation of the optional function has been created, to CAN 9, too, it uses the CAN-ID assigned solely to the optional function. Therefore, the notification as described above also corresponds to the broadcast signal corresponding to the optional function.
[00172] Referring next to Figure 17A and Figure 17B, a specific example of the recording area that allocates the routine (routine for setting recording area information) executed by the recording area allocation unit 105 of according to this modality will be described.
[00173] Figure 17A and Figure 17B are views useful to explain an example of the recording area allocating routine (routine for setting recording area information) executed by recording area allocation unit 105 in accordance with this embodiment . More specifically, as in Figure 10A to Figure 10C of the first embodiment, assuming that the types of vehicle behaviors to be detected are 6 types (J=6), that is, the "activation of VSC", the "activation of ABS", the "TRC activation", the "PCS alert activation", the "PCS brake activation", and the "LKA activation", the conditions for the allocation of recording areas RA1-1 to RA1- 3, and the recording areas RA2-1 to RA2-3, in the vehicle information storage unit 110, which areas can be allocated to the respective types of the above vehicle behaviors, are shown in Figure 17A and Figure 17B. More specifically, Figure 17A shows the allocation conditions of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3 in the off-line stage of the vehicle. Figure 17B shows the allocation conditions of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3 in case the PCS alert, as an optional function, is activated.
[00174] As shown in Figure 17A, in the vehicle off-line stage, recording areas RA1-1 to RA1-3 are allocated in advance as recording areas (base recording areas) corresponding to vehicle behaviors such as activation of standard functions, as in Figure 10A of the first mode. More specifically, recording areas RA1-1, RA1-2 and RA1-3 are allocated in advance to "VSC activation", "ABS activation", and "TRC activation", respectively. Unlike the first modality, recording areas RA2-1 to RA2-3 as recording areas (base recording areas) that can be allocated for activating optional functions are allocated in advance as additional recording areas for the types of vehicle behaviors such as the activation of standard functions, in the off-line stage of the vehicle. More specifically, recording areas RA2-1, RA2-2 and RA2-3 are allocated in advance to "VSC activation", "ABS activation", and "TRC activation", respectively.
[00175] The allocation of recording areas RA1-1 to RA1-3 and recording areas RA2-1 to RA2-3 to vehicle behavior types can be conducted by recording area allocation unit 105, when given starting the vehicle for the first time.
[00176] As described above, in this mode, a control command that is created by ECU 7A-i in response to the activation of an optional function and generated for CAN 9 (control command associated with the activation of the optional function) corresponds to a transmission signal corresponding to the optional function. Namely, the time the optional function is activated for the first time, since the line outside the vehicle, the control command is generated for CAN 9 for the first time. In this way, the recording area allocation unit 105 can determine that the optional function has been installed, when the receiving processing unit 104 receives the control command, via the transmit/receive part 25.
[00177] As shown in Figure 17B, if the corresponding vehicle behavior detection unit 107-k detects the "PCS alert activation" after the vehicle is started for the first time, the recording area allocation unit 105 allocates the RA2-2 recording area for "PCS alert activation", substantially at the same time.
[00178] In this way, until the control command is generated for the integrated network, that is, until the optional function is activated, the information recording ECU 6 (receiver processing unit 104) does not receive the control command. control as the transmit signal corresponding to the optional function, and the recording area allocation unit 105 does not determine that it has received the control command; therefore, the installation flag F2-m (installation flag information) which indicates that the transmission signal corresponding to the optional function (CAN frame as the control command associated with the activation of the optional function) has not been received is stored in the unit received information storage 111. Therefore, even in case the optional function is installed, the recording area (first area) for recording the first vehicle information corresponding to the first vehicle behavior, such as activating the optional function, can be used effectively as a recording area (additional recording area) to record the second vehicle information corresponding to the second vehicle behavior, different from the first vehicle behavior, until the optional function is activated.
[00179] As in the first embodiment (Figure 11A), the recording area that can be allocated for activating the optional function that is determined not to be installed on the vehicle (first vehicle behavior) can be divided into two or more areas of recording, which can be allocated as additional recording areas for two or more different vehicle behaviors (second vehicle behaviors).
[00180] As in the first modality (Figure 11B), the recording area that can be allocated for activating the optional function that is determined not to be installed in the vehicle (first vehicle behavior) can be allocated for activating a type different from optional function that has already been installed as being installed in the vehicle (first vehicle behavior).
[00181] Referring next to Figure 18, the processing flow of vehicle behavior detection unit 107-k will be described. As in the first modality (see Figure 12), the control routine according to the flowchart of Figure 18 is executed repeatedly at predetermined intervals, during a period from start to stop of the vehicle.
[00182] Steps S702, S703 in Figure 18 are substantially the same as steps S303, S304 in Figure 12 and therefore will not be explained in this document.
[00183] In step S701, the vehicle behavior detection unit 107-k determines whether the receiving processing unit 104 has received a control command associated with the corresponding type of vehicle behavior, via the transmitting/receiving part 25 If the control command is received, the vehicle behavior detection unit 107-k determines that the corresponding vehicle behavior has been detected, and proceeds to step S702. If the control command was not received, the current cycle of the routine ends.
[00184] Thus, in this mode, the corresponding type of vehicle behavior can be detected, based on whether the control command was received.
[00185] Although the embodiments of the invention have been described in detail, this invention is not limited to these particular embodiments, but may be subject to various modifications or changes, within the range of the principle of the invention described in the appended claims.
[00186] For example, while ECU 6 recording information as a recording device, and several ECUs as control devices that perform the control associated with optional functions, are connected via CAN in the above-described mode, they can be connected through another type of integrated network, such as Flexray or LIN. Namely, regardless of which communication protocol is used, any type of integrated network can be used as long as a control device (transmitter) that performs the control associated with the activation of an optional function emits a transmission signal corresponding to the optional function at the integrated network, and a recording device (receiver) is capable of receiving the broadcast signal.
[00187] The transmit signal that corresponds to an optional function and is generated by ECU 7A-i in response to the activation of the optional function can be transmitted, in response to a request from ECU 6 to write information. For example, when the vehicle is started, the information recording ECU 6 may issue a signal (request signal) which requests that the ECU 7A-i, in response to the activation of the optional function, transmit the transmission signal corresponding to the optional function, for CAN 9, and ECU 7A-i, in response to the activation of the optional function, can transmit the transmit signal corresponding to the optional function, in response to the request signal received via CAN 9. With this arrangement , the recording area allocation unit 105 can determine whether the optional function has been installed when the vehicle is started, and perform the operation to allocate recording areas in the same manner as in the first embodiment.
[00188] In connection with the modalities as described above, the following modalities will be further revealed. (Mode 1)
[00189] An integrated recording system includes a control device that performs vehicle control that includes control associated with a steering assistance function selectively installed in a vehicle, and a recording device that is communicatively connected to the device. through an integrated network, and records vehicle information that represents a vehicle state when any of the pre-specified types of vehicle behaviors are detected. Vehicle information is specified in advance for each of the pre-specified types of vehicle behaviors, and is obtained at a predetermined period corresponding to a detection time at which the vehicle behavior is detected. In the integrated recording system, the control device includes a transmission unit that sends a transmission signal to the integrated network in a case where the driving assistance function has been installed in the vehicle, and the recording device includes a receiving unit. which receives the transmit signal, a determining unit which determines whether the receiving unit has received the transmit signal, a received information storage unit which stores a result of determination by the determining unit as received information, a storage unit vehicle information system that includes a recording area that is defined for each type of vehicle behaviors, and has a capability that allows recording of vehicle information for a pre-specified number of detections for each type of vehicle behaviors, a first vehicle behavior detection unit that detects a first vehicle behavior as activation of the steering assistance function, between the vehicle behaviors, a second vehicle behavior detection unit that detects a second vehicle behavior of a different type from the first vehicle behavior, between the vehicle behaviors, a first vehicle behavior unit recording processing that records the first vehicle information as the vehicle information corresponding to the first vehicle behavior, in a first area as the recording area corresponding to the first vehicle behavior, when the first vehicle behavior detection unit detects the first vehicle behavior, a second recording processing unit that records the second vehicle information as the vehicle information corresponding to the second vehicle behavior, in at least one of the first area, and a second area as the corresponding recording area to the second vehicle behavior, when the second vehicle behavior detection unit detects the second vehicle behavior, a recording permission unit that allows the first recording processing unit to record the first vehicle information in the first area, and allows the second recording processing unit to record the first vehicle information in the first area, and recording records the second vehicle information in the second area, while inhibiting the second recording processing unit from recording the second vehicle information in the first area, when the received information indicates that the transmission signal has been received, and allows the second unit to The recording processing system records the second vehicle information in the first area and in the second area when the received information indicates that the transmission signal has not been received. (Mode 2)
[00190] In the integrated recording system described in embodiment 1, when the determining unit determines that the receiving unit has received the transmit signal, the determining unit does not then determine that the receiving unit has received the transmit signal.
[00191] According to modality 2, once the determining unit of the recording device determines that the receiving unit has received the transmit signal, it then does not make the determination. Namely, received information stored in a second storage unit is not updated, after the result of the determination that the receiving unit received the transmit signal is reflected. Therefore, it is possible to avoid a situation in which the received information is updated for some reason, and the received information that does not reflect the result of the determination that the receiving unit received the transmit signal (received information that indicates that the transmit signal not received) are stored on the received information storage unit. Namely, even if the information received is updated to a content that indicates that the broadcast signal has not been received, after the content of the information received once it indicates that the broadcast signal has been received, and it is determined that the function steering assistance (optional function) as optional equipment has been installed, and the first vehicle behavior detection unit detects the first vehicle behavior as the activation of the optional function, it is possible to contain the occurrence of a situation in which the first information corresponding to the first vehicle behavior cannot be recorded in the first area, as the received information content indicates that the transmission signal has not been received. Namely, it is possible to contain the failure to record vehicle information corresponding to the vehicle behavior as the activation of the optional function. (Mode 3)
[00192] In the integrated recording system described in modality 1 or 2, the transmitting unit repeatedly transmits the transmitting signal, during a period from start to stop of the vehicle, and the determining unit repeatedly determines whether the receiving unit has received the transmission signal, during the period from starting to stopping the vehicle.
[00193] According to mode 3, the transmission unit of the control device repeatedly sends the transmission signal to the vehicle's integrated network during the period from starting to stopping the vehicle. Then, the determining unit of the recording device repeatedly determines whether the receiving unit has received the transmission signal, during the period from starting to stopping the vehicle. Therefore, even in case the receiving unit can receive the transmitted transmission signal at the time the vehicle is started for the first time (which includes the first time after the optional function is installed additionally), due to a failure in the communication of the integrated network, or the like, the receiving unit can then receive the transmitted transmit signal after recovery from the communication failure, and the determining unit can determine that the receiving unit has received the transmit signal. Namely, the receiving unit receives any of the transmission signals that are generated repeatedly, and the determining unit determines that the receiving unit has received any of the transmission signals while repeatedly determining whether the transmission signal has been received, so that the information received, to the effect that the transmission signal has been received, is stored in the received information storage unit. In this way, it is possible to contain the occurrence of a situation in which the first vehicle information corresponding to the first vehicle behavior cannot be recorded in the first area within the vehicle information storage unit, since the content of the received information indicates that the transmission signal has not been received even though the first vehicle behavior detection unit detects the first vehicle behavior as the activation of the optional function. Namely, it is possible to contain the failure to record vehicle information corresponding to the vehicle behavior as the activation of the optional function. (Mode 4)
[00194] In the integrated recording system described in any of the modalities 1 to 3, even if the received information indicates that the transmission signal was not received when the second vehicle behavior detection unit detected the second vehicle behavior , the recording permission unit inhibits the second recording processing unit from recording the second vehicle information in the first area, in case the received information indicates that the transmission signal has been received, when the second recording processing unit records the second vehicle information in the vehicle information storage unit according to the detection.
[00195] According to modality 4, even if the received information indicates that the transmission signal was not received when the second vehicle behavior detection unit detected the second vehicle behavior, the write permission unit inhibits the second recording processing unit to record the second vehicle information corresponding to the second vehicle behavior in the first area, if the received information indicates that the transmission signal has been received, at which time the second recording processing unit actually records , The informations. Namely, the determination as to whether the optional function has been installed on the vehicle is fixed or confirmed, not at the time the second vehicle behavior was detected, but at the time the second vehicle information corresponding to the second vehicle behavior was , in fact, recorded. With this arrangement, when the transmission signal cannot be received, due to a communication failure, for example, it is possible to contain the occurrence of a situation in which the second vehicle information corresponding to the second vehicle behavior different from the first vehicle behavior vehicle as the activation of the optional function being recorded in the first area. Namely, the reliability of vehicle information data corresponding to the activation of the optional function, and recorded in the first area, can be improved. (Mode 5)
[00196] In the integrated recording system described in any one of embodiments 1 to 4, the control device includes a first control device that performs control associated with a first steering assistance function such as the steering assistance function, and a second control device that performs control associated with a second steering assistance function such as the steering assistance function. The first vehicle behavior is the activation of the first steering assistance function, and the second vehicle behavior is the activation of the second steering assistance function. When the received information indicates that both the transmission signal corresponding to the first steering assistance function and the transmission signal corresponding to the second steering assistance function have been detected, the recording permission unit allows the first recording processing unit to record the first vehicle information in the first area, and allows the second recording processing unit to record the second vehicle information in the second area, while inhibiting the second recording processing unit from recording the second vehicle information in the first area. When the information received indicates that the transmission signal corresponding to the first steering assistance function has not been received, and the transmission signal corresponding to the second steering assistance function has been received, the write permission unit allows the second steering unit to write processing writes the second vehicle information to the first area and the second area.
[00197] According to modality 5, the control device includes the first control device that performs the control associated with the first steering assistance function (first optional function) as a steering assistance function (optional function) as equipment optional, and the second control device that performs the control associated with the second steering assistance function (second optional function) as an optional function. Assuming that the first vehicle behavior is the activation of the first optional function, and the second vehicle behavior is the activation of the second optional function, when the information received indicates that both the transmission signal corresponding to the first optional function and the signal corresponding to the second optional function have been received, it can be determined that both the first optional function and the second optional function are installed in the vehicle. Therefore, in this case, the recording permission unit allows the first recording processing unit to record the first vehicle information in the first area, and allows the second recording processing unit to record the second vehicle information in the second area, while inhibiting the second recording processing unit from recording the second vehicle information in the first area, so that the first vehicle information data corresponding to the first vehicle behavior and the second vehicle information data corresponding to the second vehicle behavior do not are recorded in the same recording area; therefore, data reliability can be guaranteed. On the other hand, when the received information indicates that the transmission signal corresponding to the first optional function has not been received, and the transmission signal corresponding to the second optional function has been received, it can be determined that the first optional function has not been installed in the vehicle, and the second optional function has been installed in the vehicle. Therefore, in this case, the write permission unit allows the second write processing unit to write the second vehicle information in the first area and in the second area, so that the first area corresponding to the activation (first vehicle behavior) of the first optional function that can be determined when not installed in the vehicle can be effectively used to record the second vehicle information corresponding to the activation (second vehicle behavior) of the second optional function. In particular, the number of vehicle information data that is collected at all, such as vehicle information data corresponding to vehicle behavior such as the activation of an optional function, tends to be small compared to corresponding vehicle information data. to vehicle behavior such as the activation of a steering assistance function (default function) of a standard function. Therefore, when it is determined that the first optional function has not been installed, the second vehicle information corresponding to the second vehicle behavior such as the activation of the second optional function that has already been determined to be installed can be written to the first area in addition to the second area. , so that an increased number of vehicle information data corresponding to the type of vehicle behavior as activation of the optional function can be collected, which thus allows a more useful analysis of them.

权利要求:
Claims (7)
[0001]
1. Integrated recording system (1) characterized in that it comprises: a control device (7) that performs vehicle control associated with a first steering assistance function optionally installed in a vehicle and a second steering assistance function steering, unlike the first steering assistance function, which is not optionally installed in the vehicle; and a recording device (6) communicatively connected to the control device (7) through an integrated network (9), the recording device (6) being configured to record vehicle information representing a state of the vehicle. vehicle when any of the pre-specified vehicle behaviors is detected, whereby vehicle information is specified in advance for each of the pre-specified vehicle behaviors, whereby vehicle information is obtained at a predetermined period corresponding to a moment of detection of at least one of the vehicle behaviors, wherein: the control device (7) includes a transmission unit (73) that sends a transmission signal to the integrated network (9) in a case where the function assistance system has been installed in the vehicle, the recording device (6) includes a receiving unit (104), a determining unit, a recording information storage unit devices (111), a vehicle information storage unit (110), a first vehicle behavior detection unit, a second vehicle behavior detection unit, a first recording processing unit, a second processing unit and a recording permission unit, the determining unit determines whether the receiving unit (104) has received the transmission signal from the control device, the received information storage unit (111) stores a determination result, by determining unit, such as received information, the vehicle information storage unit (110) includes a recording area defined for each of the pre-specified vehicle behaviors, the recording area having a capability that allows recording of the vehicle information for a pre-specified number of detection for each of the vehicle behaviors, the first unit of detection of vehicle behavior detects, as a first vehicle behavior among the vehicle behaviors, activation of the first steering assistance function, the second vehicle behavior detection unit detects, as a second vehicle behavior among the vehicle behaviors, activation of the second steering assistance function, the first recording processing unit records, when the first vehicle behavior detection unit detects the first vehicle behavior, the first vehicle information as the vehicle information corresponding to the first vehicle behavior , in a first recording area of the vehicle information storage unit that corresponds to the first vehicle behavior, the second recording processing unit records, when the second vehicle behavior detection unit detects the second vehicle behavior, the second vehicle information such as i vehicle information corresponding to the second vehicle behavior in at least one of the first recording area and the second recording area of the vehicle information storage unit corresponding to the second vehicle behavior, the recording permission unit allows the first recording processing unit records the first vehicle information in the first recording area, and allows the second recording processing unit to record the second vehicle information in the second recording area, and in a case where the information received indicates that transmission signal has not been received and thus the first steering assistance function is not installed in the vehicle, the recording permission unit additionally allows the second recording processing unit to record the second vehicle information in the first area of recording as well as in the second recording area.
[0002]
2. Integrated recording system (1), according to claim 1, characterized in that the transmission unit (73) sends the transmission signal to the integrated network (9) when the vehicle is started.
[0003]
3. Integrated recording system (1), according to claim 1, characterized in that the control device (7) includes a control command creation unit that issues to the integrated network (9) a command of control associated with the activation of the steering assistance function, and the transmission signal comprises the control command.
[0004]
4. Integrated recording system (1), according to claim 1, characterized in that the integrated network (9) comprises a CAN, and the transmission signal comprises a CAN frame that has a CAN-ID that is given solely to the steering assistance function.
[0005]
5. Integrated recording system (1), according to claim 1, characterized in that when the determination unit determines that the receiving unit (104) has received the transmission signal, the determination unit does not then determine whether the receiving unit (104) has received the transmit signal.
[0006]
6. Integrated recording system (1), according to claim 1, characterized in that the transmission unit (73) repeatedly transmits the transmission signal, during a period from start to stop of the vehicle, and the determination repeatedly determines whether the receiving unit (104) has received the transmit signal during the period from start to stop of the vehicle.
[0007]
7. Integrated recording system (1), according to claim 1, characterized in that even in the case where the information received indicates that the transmission signal was not received, the recording permission unit inhibits the second recording unit. vehicle behavior detection recording the second vehicle information in the first recording area when the second vehicle behavior detection unit detects the second vehicle behavior.

类似技术:

---

公开号 | 公开日 | 专利标题

---

BR102016016474B1|2022-01-04|INTEGRATED RECORDING SYSTEM

---

US10270619B2|2019-04-23|In-vehicle recording system and in-vehicle control apparatus

---

EP3179463A1|2017-06-14|Action planning device

---

EP3516469B1|2021-04-07|Vehicle control system

---

US10102696B2|2018-10-16|In-vehicle control device and in-vehicle recording system

---

JP6500875B2|2019-04-17|In-vehicle network system and communication control method in in-vehicle network system

---

JP4934627B2|2012-05-16|Information filtering method and in-vehicle gateway device

---

US20180375881A1|2018-12-27|Information processing device, information processing method, and non-transitory computer readable recording medium

---

JP6558703B2|2019-08-14|Control device, control system, and program

---

US10661732B2|2020-05-26|In-vehicle relay device

---

JP2019146144A|2019-08-29|Information processing device, information processing method, and program

---

JP2019172261A|2019-10-10|Control device, control system and control program

---

JP6519830B1|2019-05-29|Electronic control device, monitoring method, program, and gateway device

---

JPWO2020085330A1|2021-09-30|Electronic control device, electronic control method and program

---

KR101490930B1|2015-02-06|Electronic control apparatus of vehicle

---

JP7037748B2|2022-03-17|Electronic control unit and connection authentication method

---

JP2019212972A|2019-12-12|Electronic control device, monitoring method, program, and gateway device

---

JP2018149987A|2018-09-27|Occupant protection system

---

JP2014142874A|2014-08-07|Vehicle information recording device

同族专利:

---

公开号 | 公开日

---

KR20170012063A|2017-02-02|

---

US10730518B2|2020-08-04|

---

KR101870028B1|2018-06-22|

---

US20190210601A1|2019-07-11|

---

US20170021835A1|2017-01-26|

---

DE102016113244A1|2017-01-26|

---

CN106373215A|2017-02-01|

---

BR102016016474A2|2017-01-24|

---

CN106373215B|2019-06-25|

---

JP2017024567A|2017-02-02|

---

US10214213B2|2019-02-26|

---

RU2643864C2|2018-02-06|

---

RU2016129528A|2018-01-24|

---

JP6350428B2|2018-07-04|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

---

US4914694A|1988-04-11|1990-04-03|Eidak Corporation|Modifying a television signal to inhibit recording/reproduction|

---

US8024084B2|1995-06-07|2011-09-20|Automotive Technologies International, Inc.|Vehicle diagnostic techniques|

---

US9102220B2|1992-05-05|2015-08-11|American Vehicular Sciences Llc|Vehicular crash notification system|

---

US7313467B2|2000-09-08|2007-12-25|Automotive Technologies International Inc.|System and method for in-vehicle communications|

---

US7421321B2|1995-06-07|2008-09-02|Automotive Technologies International, Inc.|System for obtaining vehicular information|

---

US8169311B1|1999-12-15|2012-05-01|Automotive Technologies International, Inc.|Wireless transmission system for vehicular component control and monitoring|

---

US7630802B2|1995-06-07|2009-12-08|Automotive Technologies International, Inc.|Information management and monitoring system and method|

---

US7629899B2|1997-10-22|2009-12-08|Intelligent Technologies International, Inc.|Vehicular communication arrangement and method|

---

US6405132B1|1997-10-22|2002-06-11|Intelligent Technologies International, Inc.|Accident avoidance system|

---

US7418346B2|1997-10-22|2008-08-26|Intelligent Technologies International, Inc.|Collision avoidance methods and systems|

---

US7202776B2|1997-10-22|2007-04-10|Intelligent Technologies International, Inc.|Method and system for detecting objects external to a vehicle|

---

US7110880B2|1997-10-22|2006-09-19|Intelligent Technologies International, Inc.|Communication method and arrangement|

---

KR101135101B1|2005-10-17|2012-04-16|엘지전자 주식회사|Method for data filed padding data length code using in controller area network|

---

WO2007050406A1|2005-10-21|2007-05-03|Deere & Company|Networked multi-role robotic vehicle|

---

JP2007208739A|2006-02-02|2007-08-16|Toyota Motor Corp|Data recording system and data recording method|

---

JP5044140B2|2006-04-24|2012-10-10|株式会社デンソー|Accident information collection system and accident information recording device|

---

WO2008033079A1|2006-09-15|2008-03-20|Volvo Lastvagnar Ab|Method for adapting an automatic mechanical transmission on a heavy vehicle|

---

KR20160042154A|2006-12-13|2016-04-18|크라운 이큅먼트 코포레이션|Fleet management system|

---

JP5114177B2|2007-12-12|2013-01-09|富士通テン株式会社|Information recording device|

---

US8265154B2|2007-12-18|2012-09-11|At&T Intellectual Property I, Lp|Redundant data dispersal in transmission of video data based on frame type|

---

CN101477329B|2008-01-02|2010-11-10|株洲南车时代电气股份有限公司|Vehicle-mounted information apparatus|

---

US8396622B2|2008-04-23|2013-03-12|Service Solutions U.S. Llc|Customizable initiation of data recordings|

---

JP5200897B2|2008-12-02|2013-06-05|トヨタ自動車株式会社|Vehicle communication system|

---

JP5310138B2|2009-03-13|2013-10-09|株式会社デンソー|Vehicle control system|

---

US9491420B2|2009-09-20|2016-11-08|Tibet MIMAR|Vehicle security with accident notification and embedded driver analytics|

---

US9412273B2|2012-03-14|2016-08-09|Autoconnect Holdings Llc|Radar sensing and emergency response vehicle detection|

---

US20140276090A1|2011-03-14|2014-09-18|American Vehcular Sciences Llc|Driver health and fatigue monitoring system and method using optics|

---

US8725311B1|2011-03-14|2014-05-13|American Vehicular Sciences, LLC|Driver health and fatigue monitoring system and method|

---

AU2011367785A1|2011-05-12|2013-12-05|Solink Corporation|Video analytics system|

---

CN104470602B|2012-11-06|2018-11-20|克萨公司|Tele-control system and method and use relevant to this system|

---

JP5737327B2|2013-05-08|2015-06-17|株式会社デンソー|Communication system, transmitter, receiver|

---

JP2015003589A|2013-06-20|2015-01-08|株式会社デンソー|Vehicular control system|

---

JP6350428B2|2015-07-22|2018-07-04|トヨタ自動車株式会社|In-vehicle recording system|

---

US10212081B2|2015-12-01|2019-02-19|Marvell World Trade Ltd.|Systems and methods for implementing a time-stamped controller area network bus message|US5304519A|1992-10-28|1994-04-19|Praxair S.T. Technology, Inc.|Powder feed composition for forming a refraction oxide coating, process used and article so produced|

---

JP6350428B2|2015-07-22|2018-07-04|トヨタ自動車株式会社|In-vehicle recording system|

---

DE102015217386A1|2015-09-11|2017-03-16|Robert Bosch Gmbh|Method and system for operating a motor vehicle|

---

US10445603B1|2015-12-11|2019-10-15|Lytx, Inc.|System for capturing a driver image|

---

KR101894918B1|2016-10-31|2018-09-04|현대자동차주식회사|Vehicle and control method thereof|

---

JP6323581B1|2017-02-16|2018-05-16|株式会社デンソー|Data storage device|

---

JP6722132B2|2017-04-27|2020-07-15|クラリオン株式会社|Recommended operation output device, recommended operation output method, and recommended operation output system|

---

JP6950318B2|2017-07-18|2021-10-13|株式会社デンソー|Vehicle control system|

---

KR20190051130A|2017-11-06|2019-05-15|현대자동차주식회사|Vehicle and controlling method for the same|

---

JP2019151164A|2018-03-01|2019-09-12|いすゞ自動車株式会社|Vehicle condition recording device and vehicle condition recording method|

---

US10846955B2|2018-03-16|2020-11-24|Micron Technology, Inc.|Black box data recorder for autonomous driving vehicle|

---

US11094148B2|2018-06-18|2021-08-17|Micron Technology, Inc.|Downloading system memory data in response to event detection|

---

JP2020093713A|2018-12-13|2020-06-18|トヨタ自動車株式会社|Display controller and display control program|

---

CN110758100B|2019-09-18|2021-08-06|北京汽车集团有限公司|Vehicle control system and method and vehicle|

---

CN110850402A|2019-11-28|2020-02-28|湖南率为控制科技有限公司|Four-beam Doppler velocity measurement method for carrier vehicle|

---

WO2021187802A1|2020-03-19|2021-09-23|현대자동차주식회사|Method and system for recording and managing vehicle-generated data|

法律状态:
2017-01-24| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

---

2020-07-21| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

---

2021-11-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

---

2022-01-04| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 15/07/2016, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

---

申请号 | 申请日 | 专利标题

---

JP2015145290A|JP6350428B2|2015-07-22|2015-07-22|In-vehicle recording system|

---

JP2015-145290|2015-07-22|

---