CN107864207B - ECU software upgrading method based on vehicle-mounted Ethernet - Google Patents
ECU software upgrading method based on vehicle-mounted Ethernet Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/34—Network arrangements or protocols for supporting network services or applications involving the movement of software or configuration parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/08—Configuration management of networks or network elements
- H04L41/0803—Configuration setting
- H04L41/0813—Configuration setting characterised by the conditions triggering a change of settings
- H04L41/082—Configuration setting characterised by the conditions triggering a change of settings the condition being updates or upgrades of network functionality
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L61/00—Network arrangements, protocols or services for addressing or naming
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- H—ELECTRICITY
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Abstract
An ECU software upgrading method based on vehicle-mounted Ethernet comprises the following steps: the method comprises the steps that external equipment is accessed to a vehicle-mounted Ethernet and an ECU equipment list is obtained, wherein the ECU equipment list comprises the IP address of each ECU equipment, and each ECU equipment automatically configures the IP address in a mode of combining a preset static IP with an Auto-IP; and the external equipment can selectively establish communication with each ECU equipment according to the ECU equipment list and perform flash writing. According to the ECU software upgrading method based on the vehicle-mounted Ethernet, the plurality of ECUs can be used for upgrading the firmware in parallel, the external equipment and the ECU equipment are communicated in the vehicle-mounted Ethernet based on the IP address, each ECU is guaranteed to only process the data packet sent to the ECU, and the firmware transmission processing time is shortened.
Description
Technical Field
The invention relates to a software upgrading method for an ECU (electronic control unit) in an automobile, in particular to an ECU software upgrading method based on a vehicle-mounted Ethernet.
Background
Currently, the whole internal Network of the automobile is generally divided into 3 types according to the physical layer, namely, a Local Interconnect Network (LIN) bus, a Controller Area Network (CAN) and a low-speed CAN. Of the above three types, the CAN bus is currently the most widely used in the entire vehicle, and embedded software flashing of an Electronic Control Unit (ECU) of the vehicle is also based on the CAN bus.
The biggest defect of the existing ECU software upgrading method based on Diagnostic communication over Controller area Network (DoCAN) comes from the transmission mode of a CAN bus. The CAN bus is in a half-duplex transmission mode, and only one node CAN transmit data on the CAN bus at the same time, and the data cannot be transmitted and received at the same time. When the software upgrading method in the mode is applied to upgrade the ECU equipment, when one ECU equipment executes the flash, if the other ECU equipment is controlled and flashed at the same time, two paths of flash data of the ECU equipment need to be transmitted on the CAN bus at the same time, however, the CAN bus is in a half-duplex mode, that is, only one node on the CAN bus CAN transmit the flash data of the ECU equipment at the same time, and other nodes are all in a receiving state.
In addition, in the prior patent such as CN103616830, the method of adding a message number to the transmission data is adopted to perform the ECU equipment upgrade based on the CAN bus. In the method, each ECU device on the CAN bus CAN still receive all data on the CAN bus, and each ECU device filters the received data and then processes the data with the message number of the ECU device. Each ECU device of the data transmitted by the CAN bus CAN receive the data, so that each ECU device CAN check and filter each data, and large resources are occupied.
Disclosure of Invention
In order to solve the above problems, the present invention provides an ECU software upgrading method based on a vehicle ethernet, comprising the following steps: a1: the method comprises the steps that external equipment is accessed to a vehicle-mounted Ethernet and an ECU equipment list is obtained, wherein the ECU equipment list comprises the IP address of each ECU equipment, and each ECU equipment automatically configures the IP address in a mode of combining a preset static IP with an Auto-IP; a2: and the external equipment can selectively establish communication with each ECU equipment according to the ECU equipment list and perform flash writing.
Preferably, the automatically configuring the IP address in step a1 further comprises: the ECU equipment executes an internal program to carry out IP address configuration reading, configures a preset static IP address, runs an Auto-IP protocol program, sends an ARP (address resolution protocol) data packet for detecting IP conflict, continues to use the preset static IP address if no IP conflict is detected in a vehicle-mounted Ethernet, and sends an ARP Announce data packet; and if IP collision is detected in the vehicle-mounted Ethernet, the ECU equipment starts a pseudorandom sequence to generate a new IP address, and performs collision detection on the new IP address.
Preferably, the step of performing collision detection on the new IP address includes: if the new IP address has no IP conflict, the ECU equipment confirms to use the new IP address and covers the original preset static IP address; and if the new IP address has IP conflict, starting the pseudo-random sequence again to generate another new IP address until the another new IP address does not have IP conflict any more.
Preferably, the step a1 further comprises: the external device acquires the device information of each ECU device in the vehicle-mounted Ethernet by actively sending a device discovery request data packet, and establishes an ECU device list, wherein the device discovery request data packet is a broadcast data packet based on UDP, and a destination IP address contained in the broadcast data packet is a broadcast address of the vehicle-mounted Ethernet.
Preferably, after receiving the device discovery request packet, each ECU device connected in the vehicle-mounted ethernet immediately replies an identification reply packet, and the external device establishes an ECU device list according to data information included in each identification reply packet.
Preferably, the identification reply data packet is a unicast data packet based on UDP, and the identification reply data packet includes a frame identification, an equipment group identification in which the ECU equipment is located, and an equipment identification of the ECU equipment.
Preferably, the ECU device list includes an ECU device name, an IP address of the ECU device, an existing firmware version of the ECU device, and a firmware version to be upgraded supported by the ECU device.
Preferably, the step a2 further comprises: one or more ECU devices needing to be upgraded are selected from the ECU device list, transmission channels between the external device and the selected one or more ECU devices are established based on a TCP/IP protocol, if one of the transmission channels fails to be established, the transmission channels are tried to be re-established, and when the number of attempts reaches a preset number, all the attempts fail, the channels are closed and resources are released.
Preferably, the step a2 further comprises: the external equipment initiates a routing request to the selected one or more ECU equipment, so that a channel socket of each ECU equipment is in an activated state, and if the one or more ECU equipment fails to reply, a transmission channel corresponding to the one or more ECU equipment is closed and resources are released; and if the one or more ECU devices reply successfully, the external device successfully activates the channel sockets with the one or more ECU devices.
According to the ECU software upgrading method based on the vehicle-mounted Ethernet, a plurality of ECU devices can simultaneously and parallelly carry out firmware upgrading. In addition, each ECU device adopts a preset static IP + Auto-IP mode, and the external device and the ECU devices communicate based on IP addresses in the vehicle-mounted Ethernet, so that each ECU device only receives data packets sent to the ECU device, each ECU device only shares the vehicle-mounted Ethernet bandwidth, and the time of firmware transmission processing in upgrading is shortened.
Drawings
FIG. 1 is a flow chart of ECU device upgrade in the ECU software upgrade method based on vehicle-mounted Ethernet according to the present invention;
fig. 2 shows a flowchart of the ECU device automatically configuring the IP address of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The difference between the software upgrading method of the automobile Electronic Control Unit (ECU) based on the vehicle-mounted Ethernet and the traditional upgrading method is that: each ECU device is provided with an Ethernet interface, and each ECU device CAN be connected to the vehicle-mounted Ethernet through the Ethernet interface without a traditional CAN bus network; each ECU device has its own IP address and MAC address, and the external network can be accessed to the On-Board ethernet gateway through an On-Board Diagnostic (OBD) interface.
The user performs software upgrade on the ECU device through an external device, which may be various forms of computers or mobile terminals or the like capable of communicating with the ECU device. The external device and the ECU device may be connected in the following two ways: (1) the direct connection mode is as follows: directly accessing external equipment to a gateway of a vehicle-mounted Ethernet through an on-board diagnostic (OBD) interface, wherein the external equipment and ECU equipment in the vehicle-mounted Ethernet are in the same local area network, and further, each ECU equipment in the vehicle-mounted Ethernet can be accessed and software upgrading operation can be carried out on the ECU equipment; (2) remote connection mode: the external network accessed by the external device can be accessed to the vehicle-mounted Ethernet gateway through the OBD interface, and then the ECU device in the vehicle-mounted Ethernet is accessed through the external device through the external network and is subjected to software upgrading operation.
The following describes a software upgrading method for an automotive Electronic Control Unit (ECU) based on a vehicle-mounted ethernet network, taking as an example a case where an external device is connected to a vehicle-mounted ethernet gateway through an on-board automatic diagnostic system (OBD) interface and is in the same local area network as the ECU device in the vehicle-mounted ethernet network.
Fig. 1 shows a flow chart of ECU device upgrade in the method for upgrading software of vehicle electric control devices based on vehicle ethernet.
As shown in fig. 1, the method for upgrading the software of the vehicle electric control device based on the vehicle-mounted ethernet comprises the following steps:
step one, the external equipment accesses the vehicle-mounted Ethernet and acquires an ECU equipment list.
After the external device accesses the vehicle-mounted Ethernet, the external device can actively initiate a device discovery request data packet in the vehicle-mounted Ethernet, the device discovery request data packet is a broadcast data packet based on UDP, a target IP address contained in the broadcast data packet is a broadcast address of the vehicle-mounted Ethernet, and after all ECU devices connected in the vehicle-mounted Ethernet receive the device discovery request data packet, the ECU devices immediately reply and identify a reply data packet. The Identification reply packet is a unicast packet based on UDP, and the information in the Identification reply packet includes a Vehicle frame Identification (VID), a Group Identification (GID) of the ECU device, and a device Identification (Equipment Identification) of the ECU device. The external device creates an ECU device list based on the data information contained in each identification reply packet.
And the ECU equipment list established by the external equipment lists information such as equipment names, IP addresses, the existing firmware versions and the firmware versions to be upgraded of the equipment corresponding to the ECU equipment in the vehicle-mounted Ethernet.
In addition, each ECU device is provided with a unique IP address, so that the external device and other ECU devices in the vehicle-mounted Ethernet can be conveniently identified, the external device can conveniently communicate with each ECU device in the vehicle-mounted Ethernet in an IP address addressing mode, and each corresponding ECU device receives a data packet corresponding to the IP address of the ECU device. Fig. 2 shows a flowchart of the ECU device automatically configuring the IP address of the present invention.
As shown in fig. 2, when each ECU device accessing the vehicle-mounted ethernet starts to operate after being powered on, an IP address is automatically configured for the ECU device in a manner of combining a preset static IP with an Auto-IP, and the specific process is as follows:
when the ECU equipment in the vehicle-mounted Ethernet is started to operate after being electrified, the ECU equipment executes an internal program to carry out IP address configuration reading and configure a preset static IP address, then an Auto-IP protocol program is executed in the ECU equipment, the Auto-IP protocol sends an ARP data packet for detecting IP conflict, and whether the IP address which is the same as the preset static IP address exists in the vehicle-mounted Ethernet or not is detected. If the IP conflict is not detected in the vehicle-mounted Ethernet, the ECU continues to use the preset static IP, sends an ARP Announce packet and notices that the IP is bound by the ECU in the vehicle-mounted Ethernet; if the IP conflict is detected in the vehicle-mounted Ethernet, the fact that the device with the IP address identical to the preset static IP exists in the vehicle-mounted Ethernet is indicated, the ECU stores the IP conflict record, starts an internal pseudo-random sequence to generate a new IP address, and carries out IP conflict detection on the new IP address again. If the new IP address has no IP conflict, the ECU confirms to use the new IP address, and covers the original preset static IP address, and finally saves the operation record; if the new IP address also has IP conflict, the ECU device starts the pseudo-random sequence again to generate another new IP address until the another new IP address does not have IP conflict any more.
The preset static IP configured in the ECU device can use the IP of a type B network segment, for example, 169.254.x.x/16 can be adopted as the IP network segment. The following table 1 exemplifies the IP addresses of the external devices and the ECU devices of the respective functional parts of the automobile within one in-vehicle ethernet network:
TABLE 1
And step two, according to the ECU equipment list, the external equipment can selectively establish communication with each ECU equipment and perform flash.
The second step further comprises the following steps:
and step 21, manually selecting one or more ECU devices needing to be upgraded in the ECU device list, finishing 3-way handshake by adopting a TCP/IP protocol, and establishing a parallel transmission channel from the external device to the selected one or more ECU devices.
The user selects one or more ECU devices needing to be upgraded in a device list established by the external device, and initiates a network transmission channel based on connection for the selected one or more ECU devices, namely a TCP data packet is sent, the destination IP address of the initiated connection channel is the IP address of the ECU device needing to be upgraded, and the source IP address is the IP address of the external device.
After receiving the request of connecting the network transmission channel, the ECU equipment creates a firmware upgrading channel socket which is specially used for firmware upgrading communication, and replies to represent channel establishment.
The external equipment acquires channel establishment information replied by the ECU equipment, and the channel establishment is successful; and if the channel establishment fails, trying to reestablish the transmission channel, and when the number of attempts reaches a preset number, all the attempts fail, closing the channel and releasing the resources. The preset number of times is set to 3 times by a manual device, for example.
In addition, the number of ECU devices that simultaneously support the maximum concurrent upgrade may be configured in the external device, similar to the number of simultaneous downloads supported by the maximum in the thunderbolt software.
And step 22, based on the established transmission channel, the external device initiates a routing request to the corresponding ECU device, so as to enable the channel socket of each ECU device to be in an activated state.
If the ECU equipment fails to reply, the ECU equipment channel socket activation is considered to fail, the ECU equipment cannot be upgraded, and at the moment, the channel is closed and resources are released; if the ECU device replies successfully, the ECU device channel socket activation is considered to be successful.
And step 23, the external device and the ECU device with the channel socket in the activated state carry out security verification access.
The method comprises the steps that an external device sends a security access key seed request to an ECU device with a channel socket in an activated state, the ECU device with the channel socket in the activated state replies a key seed to the external device, then the external device calculates a key value according to an algorithm and sends the key value to the ECU device with the channel socket in the activated state, and if the key value sent by the external device is correct, the key decoding is successful; and if the key value sent by the external device is wrong, the ECU device with the channel socket in the activated state replies a key value error message to the external device, and the external device closes the ECU device transmission channel and releases resources after receiving the key value error message replied by the ECU device.
Step 24, after the safety verification access is unlocked, the external equipment sends a firmware upgrading request instruction to the corresponding ECU equipment, and the corresponding ECU equipment enters a programming mode and carries out related FLASH area erasing operation;
and step 25, after the FLASH area of the ECU device is erased, the corresponding ECU device initiates a download request instruction, the external device writes the firmware file to be written into the FLASH area of the corresponding ECU device according to the loaded firmware file, and sends the firmware information to be written to the corresponding ECU device based on the specified transmission channel, wherein the IP destination address of the data packet sending the firmware information is the IP address of the corresponding ECU device, and the source address is the IP address of the external device.
And step 26, after the firmware file is completely written, the corresponding ECU equipment checks the firmware file to be written, and determines whether the firmware file to be written is complete.
If the verification is successful, the transmission of the whole firmware file is successful; if the verification fails, it indicates that the transmission of the entire firmware file fails, the ECU device initiates a data retransmission request instruction, and repeats the process of step 26 again until the transmission of the entire firmware file succeeds.
And 27, feeding back a programming completion message to the external equipment by the ECU equipment which completes the programming of the firmware file completely, sending a reset restart command by the external equipment after receiving the programming completion message sent by the ECU equipment, closing a transmission channel by the external equipment after the command is sent, releasing resources, and marking the ECU equipment with the upgraded firmware as upgraded. And then repeating the firmware upgrading process on the rest ECU equipment to be updated in the list.
The ECU device restarts and loads a new firmware program upon receiving the reset command.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (7)
1. An ECU software upgrading method based on vehicle-mounted Ethernet is characterized by comprising the following steps:
a1: the external device accesses the in-vehicle ethernet and acquires the ECU device list,
the ECU equipment list comprises the IP address of each ECU equipment, and each ECU equipment automatically configures the IP address in a mode of combining a preset static IP with an Auto-IP;
the ECU equipment executes an internal program to carry out IP address configuration reading, configures a preset static IP address, runs an Auto-IP protocol program and sends an ARP (address resolution protocol) data packet for detecting IP conflict;
a2: the external equipment can establish communication with each ECU equipment and perform flash according to the ECU equipment list;
the automatically configuring the IP address in step a1 further comprises:
if no IP conflict is detected in the vehicle-mounted Ethernet, the ECU equipment continues to use the preset static IP address and sends an ARP Announce data packet;
if IP collision is detected in the vehicle-mounted Ethernet, the ECU equipment starts a pseudorandom sequence to generate a new IP address, and performs collision detection on the new IP address;
the step of performing collision detection on the new IP address comprises:
if the new IP address has no IP conflict, the ECU equipment confirms to use the new IP address and covers the original preset static IP address;
and if the new IP address has IP conflict, starting the pseudo-random sequence again to generate another new IP address until the another new IP address does not have IP conflict any more.
2. The method of claim 1, wherein the step a1 further comprises:
the external device acquires the device information of each ECU device in the vehicle-mounted Ethernet by actively sending a device discovery request data packet, and establishes an ECU device list, wherein the device discovery request data packet is a broadcast data packet based on UDP, and a destination IP address contained in the broadcast data packet is a broadcast address of the vehicle-mounted Ethernet.
3. The method of claim 2, wherein: and after receiving the device discovery request data packet, all ECU devices connected in the vehicle-mounted Ethernet immediately reply an identification reply data packet, and the external device establishes an ECU device list according to data information contained in each identification reply data packet.
4. The method of claim 3, wherein: the identification reply data packet is a unicast data packet based on UDP, and comprises frame identification, equipment group identification of the ECU equipment and equipment identification of the ECU equipment.
5. The method of claim 1, wherein: the ECU device list comprises the name of the ECU device, the IP address of the ECU device, the existing firmware version of the ECU device and the firmware version to be upgraded supported by the ECU device.
6. The method of claim 1, wherein the step a2 further comprises:
selecting one or more ECU devices requiring upgrade in the ECU device list, establishing a transmission channel between the external device to the selected one or more ECU devices based on a TCP/IP protocol,
and if one of the transmission channels fails to be established, trying to re-establish the transmission channel, and when the number of trying times reaches a preset number, all trying fails, closing the channel and releasing the resources.
7. The method of claim 1, wherein the step a2 further comprises:
the external device initiates a routing request to the selected one or more ECU devices, causes the channel socket of each ECU device to be in an active state,
if the reply of the selected one or more ECU devices fails, closing the transmission channels corresponding to the selected one or more ECU devices and releasing resources;
if the selected one or more ECU devices reply successfully, the channel socket activation of the external device with the selected one or more ECU devices succeeds.
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| CN106790233A (en) * | 2017-01-17 | 2017-05-31 | 北京经纬恒润科技有限公司 | The application program method for refreshing and device of a kind of ECU |
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