Vehicle control device and vehicle system

1. A vehicle control device comprising:

a storage device that stores various programs for controlling a vehicle; and

a plurality of computation devices that include a first computation device and a second computation device, and that read a program from the storage device and execute the program; and

a storage device that stores shared data calculated by the second computation device, wherein

the storage device that stores various programs for controlling a vehicle includes a first type of computation processing program executed not by time division, and a second type of computation processing program executed by time division,

the first computation device executes the first type of computation processing program, and

the second computation device executes the second type of computation processing program,

in a time period during which the second computation device does not refer to the shared data, the first computation device updates the shared data, and

the time period during which the second computation device does not refer to the shared data is a time period to which the second type of computation processing to be executed is not assigned, a time period during which control processing that does not refer to the shared data is executed, or a time period during which microcomputer diagnostic processing is executed.

2. The vehicle control device according to claim 1 , wherein at time at which the first computation device does not refer to the shared data, the first computation device replicates the shared data, and stores the replicated shared data in a temporary buffer area.

3. The vehicle control device according to claim 1 , wherein

priorities are defined for a plurality of tasks corresponding to the first type of computation processing, and

the first computation device schedules execution of the plurality of tasks corresponding to the first type of computation processing on the basis of the priorities.

4. The vehicle control device according to claim 1 , wherein

a slot that prescribes a time period during which the second type of computation processing is executed is set beforehand, and

when end time of the slot is reached in a case where the second type of computation processing that should end in the slot has not ended, the second computation device brings execution of the second type of computation processing that has not ended into a standby state, and restarts the execution of the second type of computation processing that has not ended in a slot in a next cycle.

5. The vehicle control device according to claim 1 , wherein

a slot that prescribes a time period during which the first type of computation processing is executed, and a slot that prescribes a time period during which the second type of computation processing is executed, are determined beforehand.

6. The vehicle control device according to claim 1 , wherein

worst-case execution time that is the longest time taken at the time of execution is given beforehand to a task corresponding to the first type of computation processing, and to a task corresponding to the second type of computation processing, and

on the basis of the worst-case execution time, the first computation device or the second computation device determines a size of a slot that is a time period for executing each task.

7. The vehicle control device according to claim 1 , wherein

a slot that prescribes a time period during which the second type of computation processing is executed is set beforehand, and

the first computation device processes a task corresponding to the first type of computation processing at available time at which the second type of computation processing is not executed in the slot.

8. A vehicle system comprising:

an outside recognition device that obtains outside recognition information for recognizing an outside situation;

a vehicle control device comprising a storage device that stores various programs for controlling a vehicle; and a plurality of computation devices that include a first computation device and a second computation device, and that read a program from the storage device and execute the program, wherein the storage device includes a first type of computation processing program executed not by time division, and a second type of computation processing program executed by time division, the first computation device executes the first type of computation processing program, and the second computation device executes the second type of computation processing program; and

an in-vehicle network, wherein the vehicle control device obtains the outside recognition information from the outside recognition device through the in-vehicle network, executes the second type of computation processing for the outside recognition information, and transmits a processing result of the second type of computation processing to the other vehicle devices or output devices through the in-vehicle network;

wherein in a case where the vehicle control device detects a processing time error in a slot that prescribes a time period during which the second type of computation processing is executed, the vehicle control device notifies of a specific function error through the in-vehicle network.

9. A vehicle system comprising:

an outside recognition device that obtains outside recognition information for recognizing an outside situation;

a vehicle control device comprising a storage device that stores various programs for controlling a vehicle; and a plurality of computation devices that include a first computation device and a second computation device, and that read a program from the storage device and execute the program, wherein the storage device includes a first type of computation processing program executed not by time division, and a second type of computation processing program executed by time division, the first computation device executes the first type of computation processing program, and the second computation device executes the second type of computation processing program; and

an in-vehicle network, wherein the vehicle control device obtains the outside recognition information from the outside recognition device through the in-vehicle network, executes the second type of computation processing for the outside recognition information, and transmits a processing result of the second type of computation processing to the other vehicle devices or output devices through the in-vehicle network;

wherein in a case where the vehicle control device detects a processing time error in a slot that prescribes a time period during which the second type of computation processing is executed, the vehicle control device causes a function related to the processing time error to be recovered.