Brake control system architecture and method for updating firmware of embedded controller

Abstract

In a brake control system of a vehicle, a non-volatile memory of a micro controller mounted on a control apparatus can be rewritten data. The integrated control apparatus and a plurality of control apparatuses, which control the brake apparatuses to correspondingly installed at each wheel, are connected via the network. The integrated control apparatus, in the case where a request to rewrite a program to a control apparatus is sent from the service terminal which is connected via other networks, transmits an updated program sent from the service terminal, to a target control apparatus of the rewrite request via the network, after sending a brake command to make a vehicle stop. The control apparatus executes rewriting of a program stored in a non-volatile memory of the control apparatus has, by means of the updated program transmitted via the network.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a configuration of an electromotive brake system relevant to an embodiment of the present invention.

FIG. 2 is a simplified structure diagram showing inside structure of an electromotive brake actuator.

FIG. 3 is a message format showing configuration of a communication message.

FIG. 4 is a simplified appearance diagram of a service terminal.

FIG. 5 is a rewrite operation screen view of a service terminal.

FIG. 6 is a memory map for explaining configuration of rewritable non-volatile memory.

FIG. 7 is a flow chart of rewrite processing by a service terminal.

FIG. 8 is a control flow chart of a parking brake control executed by an integrated control apparatus in rewriting a control program.

FIG. 9 is a control flow chart of a parking brake control executed by an electromotive brake actuator in rewriting a control program.

FIG. 10 is a flow chart of rewrite processing of a control program by an electromotive brake actuator.

FIG. 11 is a flow chart of rewrite processing to a second micro controller.

Claims

1. A method for updating a program in a brake control system which is equipped with: an integrated control apparatus;a plurality of brake apparatuses which is correspondingly mounted to each wheel of a vehicle and actuates brake to a vehicle;a plurality of control apparatuses which are correspondingly mounted to said plurality of brake apparatuses, and control said each responding brake apparatus, in accordance with a command from said integrated control apparatus, by executing a program memorized in an embedded rewritable non-volatile memory; anda network which exchanges a message between said integrated control apparatus and said plurality of brake apparatuses, said method comprising the steps of:receiving a rewrite request message to request rewrite of a program to a first control apparatus included in said control apparatus, from a service terminal connected with said integrated control apparatus, by said integrated control apparatus;sending a command so as to actuate said brake apparatus from said integrated control apparatus to at least one control apparatus in said plurality of control apparatuses in response to said rewrite request message;providing braking force to a vehicle, in response to said command, by said at least one control apparatus, by means of controlling said brake system where said at least one control apparatus is correspondingly mounted; andexecuting rewriting of a program, which program is stored in said rewritable non-volatile memory installed at said first control apparatus, by receiving from said service terminal a program to be wrote into said first control apparatus, by said integrated control apparatus, after said command is sent, and by transmitting said program to said first control apparatus via said network.

2. The method for updating a program according to claim 1, wherein the step of actuating said braking force comprises the step of actuating a parking brake function provided in a brake apparatus correspondingly installed at said at least one control apparatus.

3. The method for updating a program according to claim 1, wherein the step of providing said braking force comprises step of shifting said plurality of control apparatuses excluding said first control apparatus, to a reduced state of communication frequency with said integrated control apparatus.

4. The method for updating a program according to claim 3, wherein said step of shifting further comprises:step of transmitting said rewrite request message from said integrated control apparatus onto said network;step of detecting said rewrite request message transmitted onto said network, by said plurality of control apparatuses excluding said first control apparatus; andstep of reducing sending messages to said network, in response to detection of said rewrite request message.

5. The method for updating a program according to claim 3, wherein, when said program rewriting is completed: sending a rewriting completion message showing completion of said program rewriting, from said first control apparatus to said integrated control apparatus via said network, when said program rewriting is completed;detecting said completion message, which is transmitted onto said network, in each of said plurality of control apparatuses excluding said first control apparatus; andrestoring a state from a state of reduced communication frequency in response to detection of said completion message.

6. The method for updating a program according to claim 3, wherein said step of shifting comprises step of blocking power supply to said plurality of control apparatuses excluding said first control apparatus, by said integrated control apparatus.

7. A brake control system comprising: an integrated control apparatus;a first network, with which said integrated control apparatus is connected;brake apparatuses each installed at each wheel of a vehicle, and equipped with electromotive driving source, to provide braking force to a vehicle by utilization of driving force generated by said driving source; anda control apparatus, which is connected to said first network and has a rewritable non-volatile memory, to control said brake apparatus in accordance with a command from said integrated control apparatus, by means of executing a program memorized in said non-volatile memory, whereinsaid integrated control apparatus, in the case where a request to rewrite a program is sent from a service terminal connected with said integrated control apparatus, to any of said plurality of control apparatuses, sends a brake command so as to make a vehicle in a stop state, to at least one control apparatus in said plurality of control apparatuses, and then transmits an updated program sent from said service terminal, to a target control apparatus of said rewrite request, via said first network; andthe target control apparatus of said rewrite request executes rewriting of a program memorized in said non-volatile memory which the own control apparatus has, by means of said updated program transmitted via said first network.

8. The brake control system according to claim 7, wherein: a brake apparatus responding to said at least one control apparatus in said plurality of control apparatuses, is equipped with a parking brake mechanism to maintain braking force generated, even after power supply to said drive source is stopped; andsaid brake command is a command to actuate said parking brake mechanism.

9. The brake control system according to claim 8, wherein said integrated control apparatus, after sending said brake command, blocks power supply to said plurality of control apparatuses excluding a target control apparatus of said rewrite request, before transmitting said update command.

10. The brake control system according to claim 8, wherein said plurality of control apparatuses drive said drive source in response to said brake command, control said brake apparatus so as to generate braking force by said parking brake mechanism, and also reduce communication frequency with said integrated control apparatus, via said first network.

11. A brake control system comprising: an integrated control apparatus;a first network with which said integrated control apparatus is connected;brake apparatuses each correspondingly installed at each wheel of a vehicle, and equipped with electromotive driving source, to provide braking force to a vehicle by utilization of driving force generated by said driving source; anda control apparatus, which is connected with said first network, has a rewritable non-volatile memory and controls said brake apparatus in accordance with a command from said integrated control apparatus, by means of executing a program memorized in said non-volatile memory, whereinsaid integrated control apparatus, in the case where a request to rewrite a program is sent from a service terminal which is connected with said integrated control apparatus, to any of said plurality of control apparatuses, transmits an updated program sent from said service terminal to a target control apparatus of said rewrite request via said first network, after blocking power supply to said plurality of control apparatuses excluding a target control apparatus of said rewrite request; andthe target control apparatus of said rewrite request executes rewriting of a program memorized in said non-volatile memory which said own control apparatus has, in accordance with said updated program transmitted via said first network.

12. The brake control system according to claim 11, further comprising a second network different from said first network, wherein said integrated control apparatus is connected with said service terminal via said second network.

13. The brake control system according to claim 11, wherein said integrated control apparatus, in advance to said blocking of power supply, sends a brake command to make a vehicle in a stop state, to at least one control apparatus in said plurality of control apparatuses; andsaid at least one control apparatus generates braking force by controlling corresponding said brake apparatus, in response to said brake command.

14. The brake control system according to claim 13, wherein the brake apparatus responding to said at least one control apparatus is provided with a parking brake mechanism so as to maintain braking force generated, even after power supply to said drive source is stopped; andsaid brake command is a command to actuate said parking brake mechanism.