Embedded control device
There is provided an embedded control device having high real time performance and capable of securing data concurrency. The embedded control device according to the present invention includes disclosure data and stored data as control data to be disclosed to a data reference component. The embedded control device changes over a reference destination for the data reference component either to the disclosure data or to the stored data, depending on which of the execution priority of the data disclosing source component and the execution priority of the data reference component is higher.
1. An embedded control device comprising:
control data used in control calculation for controlling a control target;
a data disclosing source component that is a software component, configured to disclose the control data to another software component;
a data reference component that is a software component, configured to refer to the control data; and
a priority definition unit configured to define execution priority of each of the software components,
the data disclosing source component including:
disclosure data and stored data as the control data to be disclosed to the data reference component; and
a reference destination changeover unit configured to change over a reference destination of the control data to which the data reference component refers either to the disclosure data or to the stored data, depending on which of the execution priority of the data disclosing source component and the execution priority of the data reference component is higher.
2. The embedded control device according to claim 1 , wherein
the reference destination changeover unit is configured to set the reference destination to the disclosure data if the execution priority of the data disclosing source component is equal to or less than the execution priority of the data reference component, and
the reference destination changeover unit is configured to set the reference destination to the stored data if the execution priority of the data disclosing source component exceeds the execution priority of the data reference component.
3. The embedded control device according to claim 1 , further comprising
a disclosure data update unit configured to update the disclosure data with a same execution priority as that of the process of the data disclosing source component to calculate the control data.
4. The embedded control device according to claim 3 , wherein
the data disclosing source component is configured to update the disclosure data by executing a process of the data disclosure update unit in the process of calculating the control data.
5. The embedded control device according to claim 1 , further comprising
a stored data update unit configured to update the stored data with a different execution priority from that of the process of the data disclosing source component to calculate the control data.
6. The embedded control device according to claim 5 , wherein
the stored data update unit is configured to be a different software component from the data disclosing source component and the data reference component.
7. The embedded control device according to claim 5 , wherein
the stored data update unit is configured to update the stored data with a lower execution priority than that of the process of the data disclosing source component to calculate the control data.
8. The embedded control device according to claim 5 , wherein
the stored data update unit is configured to update the stored data with a same execution priority as that of the data reference component if the execution priority of the data reference component is lower than that of the data disclosing source component.
9. The embedded control device according to claim 5 , wherein
the stored data update unit is configured to update the stored data at a same timing as a timing in which the data reference component executes a process if the execution priority of the data reference component is lower than that of the data disclosing source component.
10. The embedded control device according to claim 9 , wherein
the process of the stored data update unit to update the stored data is activated by timer interruption or external interruption.
11. The embedded control device according to claim 1 , wherein
the reference destination changeover unit fixedly defines a correlation between the data reference component and the disclosure data or the stored data without depending on the execution priority.
12. The embedded control device according to claim 1 , wherein
the control data is at least one of a sensor measurement value, an actuator control parameter, a vehicle state prediction value and a vehicle control target value, all of which are used for controlling a vehicle.