WO2020238291A1

WO2020238291A1 - Automobile ethernet-based unified diagnostic service functional addressing method

Info

Publication number: WO2020238291A1
Application number: PCT/CN2020/075781
Authority: WO
Inventors: 肖文平; 袁剑; 黄飞; 石川; 张航
Original assignee: 上海赫千电子科技有限公司
Priority date: 2019-05-31
Filing date: 2020-02-18
Publication date: 2020-12-03
Also published as: CN110311992B; CN110311992A

Abstract

Disclosed in the present invention are an automobile Ethernet-based UDS functional addressing method, comprising the following steps: performing mapping between a functional addressing address and an IP multicast address, and building a mapping table in a node applied for an Ethernet diagnosis function; completing, according to the mapping table, control of a server on the access permission of an external test device; sending diagnostic communication in a functional addressing communication mode to the server; and after the server receives a functional addressing diagnosis message, performing diagnosis processing. By using the technical solution of the present invention, when processing functional addressing and sending, the client only needs to process once and send one data packet, and the processing time of the external test device, the overall communication time, and the system bandwidth occupancy are all well improved.

Description

Function addressing method of unified diagnosis service of automobile Ethernet

Technical field

The invention belongs to the diagnostic communication field of automotive Ethernet, in particular to a UDS (Unified Diagnostic Service) function addressing method based on automotive Ethernet.

Background technique

In automotive Ethernet technology, diagnostic high-level data (UDS) is carried on DoIP (Diagnostic Communication over Internet Protocol). Specifically, it is carried on the diagnostic data packet with the load type 0x8001 in the DoIP protocol. In the current version of the DoIP protocol, it is clearly pointed out that the 0x8001 diagnostic message is carried on the TCP (Transmission Control Protocol). That is to say, DoIP-based diagnostic communication only has the capability of point-to-point communication.

The diagnostic communication actually supports two communication modes, namely physical addressing and functional addressing. Physical addressing is point-to-point communication, and functional addressing is one-to-many communication. In the current implementation of automotive Ethernet diagnosis, if a functional addressing communication method is required, the DoIP layer needs to send data packets separately to each node that needs to communicate, that is, one-to-many communication is completed by multiple single-point communication. .

The traditional automobile communication bus is the CAN (Controller Area Network) bus. When diagnostic communication is implemented on the CAN bus, when functional addressing is required, the external test equipment only needs to send a message once, and all corresponding servers can receive the corresponding The function of addressing the message.

In traditional Ethernet, one-to-many communication also has mature solutions, namely, IP-based broadcast and multicast. However, the current automotive Ethernet technology is still in its initial development stage. The process of combining Ethernet technology with the original diagnostic communication requirements is very clumsy in the realization of functional addressing. Using multiple single-point communications to replace one-to-many communications increases the software processing complexity of the diagnostic communication initiator. With the increase of functional addressing objects, the data packets that need to be sent for single functional addressing communication are also increased. As it increases, response processing time and bus bandwidth are wasted needlessly. However, simply directly using Ethernet multicast/broadcast to transmit functional addressing messages is only for car diagnostic services and is not safe enough.

Summary of the invention

The invention provides a UDS function addressing method based on automobile Ethernet, thereby effectively reducing the software processing complexity of the communication initiator, and improving the response processing time and the utilization rate of the bus bandwidth.

According to the above-mentioned objective, a method for addressing the functions of a unified diagnostic service based on automotive Ethernet according to the present invention is characterized in that it includes the following steps:

Step S1, establishing a mapping table between functional group addresses and IP multicast addresses;

Step S2, complete the server's control of the access authority of the external test equipment, and add the server to the IP multicast group according to the mapping table;

Step S3, sending a diagnostic message in the functional addressing communication mode to the server in the IP multicast group, the diagnostic message containing the IP multicast address;

Step S4, perform diagnostic processing according to the diagnostic message in the functional addressing mode;

Wherein, the server has a functional group address and an IP address, and the IP multicast address is composed of IP addresses.

Optionally, the step S2 includes:

Step S21, searching for the IP address of the server;

Step S22, establish a TCP connection with the server device;

Step S23, sending a request message for routing activation, the request message containing the logical address of the external test device;

Step S24, judge whether the diagnosis communication can be performed according to the logical address, if the diagnosis communication can be performed, mark the current TCP connection as active, and perform step S25; otherwise, perform step S26;

Step S25: Find out the IP multicast address corresponding to the functional group address of the server according to the mapping table, add the server to the IP multicast group, and mark the logical address as active;

Step S26: Disconnect the current TCP connection. If there is no other connection between the external test device and the server at this time, the server exits the IP multicast group.

Optionally, in the step S3, according to the IP multicast address in the diagnostic message, the external test device sends the diagnostic message in the functional addressing communication mode to the server in the IP multicast group, wherein the IP multicast address The data packet of the multicast address is encapsulated according to the user data packet protocol.

Optionally, the step S4 includes:

Step S41, detecting whether the logical address of the external test device is activated, and if so, execute the next step; otherwise, send a failure response code to the external test device, and close the current TCP connection;

Step S42: Judge whether the server supports the functional group address corresponding to the IP multicast address in the diagnostic message, if so, execute the next step; otherwise, send a failure response code to the external test device and discard the diagnostic message;

Step S43: Send a successful response code to the external test equipment, report the diagnosis message to the diagnosis processing module in the server, and start the diagnosis process.

According to the above-mentioned purpose, an external test equipment implementing the present invention is used to realize the functional addressing of a unified diagnostic service on the automotive Ethernet, which is characterized by:

The external test device sends a routing activation request message to the server. After the routing is activated, the server is added to the IP multicast group according to the mapping table between the functional group address and the IP multicast address, and the functional addressing communication mode is also sent when diagnosing communication Diagnose the diagnosis message to the server in the IP multicast group for diagnosis processing;

Wherein, the server has a functional group address and an IP address, and the diagnosis message includes an IP multicast address.

Optionally, the request message contains logical address information of the external test device, which is used by the server to determine whether the external test device has the authority to perform diagnostic communication.

According to the above-mentioned purpose, an in-vehicle network system implementing the present invention is used to realize the functional addressing of a unified diagnostic service on the automotive Ethernet, including a gateway and a server. The gateway is used for diagnostic communication based on an IP network, and is characterized in that:

The gateway is used to establish a TCP connection between the external test equipment and the server, and to embed the mapping table between the function group address and the IP multicast address on the internal node related to the diagnosis function;

The server receives the routing activation request message sent by the external test equipment and determines whether the external test equipment has the authority to perform diagnostic communication; during diagnostic communication, it receives the diagnostic message in the functional addressing communication mode and performs diagnostic processing.

Optionally, for the logical address information of the external test device included in the request message, the server determines whether the external test device has the authority to perform diagnostic communication according to the logical address information.

Optionally, the server contains a diagnostic processing module, which can perform diagnostic processing according to the diagnostic message.

Optionally, the communication connection mode between the external device and the server includes wireless communication and wired communication;

The wireless communication includes but is not limited to Wifi, 4G, 5G, Bluetooth.

Adopting the technical scheme of the present invention, aiming at the deficiencies of the prior art, by adopting the functional address and IP address mapping table, and using the restricted access mechanism of TCP and routing activation and the improved Ethernet multicast mechanism, the improved multicast is adopted Mode, the client only needs to process one time when processing the function addressing and send a data packet. The processing time of the external test equipment, the overall communication time, and the occupation of system bandwidth are all improved.

Description of the drawings

Figure 1 is a flowchart of access control in functional addressing mode;

Figure 2 is a structure diagram of a unicast diagnostic message in the functional addressing mode;

Figure 3 is a structure diagram of a multicast diagnostic message in the functional addressing mode;

Figure 4 is a schematic diagram of the structure of IP data load;

Figure 5 is a schematic diagram of the structure of TCP data load;

Figure 6 is a schematic diagram of the structure of the UDP header;

Figure 7 is a schematic diagram of unicast mode;

Figure 8 is a schematic diagram of a multicast mode;

Figure 9 is a flowchart of the diagnostic message receiving process in the functional addressing mode.

Detailed ways

The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments. The specific implementation steps of the UDS function addressing method based on automotive Ethernet in the present invention are:

First, a mapping table between functional addressing addresses and IP multicast addresses is established.

According to the DoIP protocol standard, the functional addressing address is specified as follows:

Table 1 Function addressing group address definition

The IP protocol uses all IP addresses between 224.0.0.0 and 239.255.255.255 as IP multicast addresses, and 224.0.2.0 to 238.255.255.255 are multicast addresses available to users.

In actual use, the functional group address (functional addressing address) and the IP multicast address are mapped one by one, and the mapping table is built into the relevant nodes of the automotive Ethernet diagnostic function.

In an embodiment, the mapping table between functional group addresses and IP multicast addresses may be as follows:

功能组地址Functional group address	IP组播地址IP multicast address
0xE0000xE000	225.1.224.0225.1.224.0
0xE000…0xE3FF0xE000…0xE3FF	225.1.224.0…225.1.227.255225.1.224.0...225.1.227.255
0xE400…0xEFFF0xE400…0xEFFF	225.1.228.0…225.1.239.255225.1.228.0...225.1.239.255

Table 2 Function group address and IP multicast mapping table

It should be noted that the mapping table is necessary for the addressing mode of the automotive Ethernet diagnostic service function to be carried in the IP multicast mode, but the content of the mapping table is not limited to the range shown in Table 2 above.

Secondly, use the restricted access mechanism of TCP and routing activation to adapt to IP multicast, and complete the control and management of the access authority of the external test equipment by the server in the functional addressing mode.

As shown in Figure 2, the main steps are as follows:

(a) The external test equipment initiates the DoIP device discovery process and finds the device information of the server (ECU), such as the IP address, etc.;

(b) The external test equipment actively initiates and successfully establishes a TCP connection to the server (ECU)

Connect

(c) The external test device initiates a route activation request on the established TCP channel, and the request message carries the logical address information of the external test device;

(d) The server (ECU) judges whether the external test equipment has the authority to perform subsequent diagnostic communication according to the logical address information of the external test equipment;

(e) If the server (ECU) judges that the external test equipment has the right to perform subsequent diagnostic communication, it will mark the current communication TCP connection as valid; at the same time, look up the function group address and IP multicast according to the server (ECU)'s own function group address Mapping table, add the server (ECU) to the corresponding IP multicast group; the server (ECU) marks the logical address of the external test device as active, and binds the current TCP connection;

(f) If the server (ECU) judges that the external test equipment is not authorized for subsequent diagnostic communication, it will disconnect the current TCP connection. If there is no external test equipment connected to the server (ECU) at this time, then the server (ECU) Exit the IP multicast group.

The logical address can be information such as the IP address of the external test equipment, the identification number (ID, Identity) or other marks, and can be predefined and set in the server (ECU).

The present invention adds a process of adapting multicast communication to the original DoIP routing activation mechanism. In the case of successful activation, the server needs to look up the functional group address mapping table (ie Table 2) after knowing its own functional group address To join the corresponding IP multicast group. In the case of activation failure, if it is confirmed that all clients have been disconnected, the server needs to exit the corresponding IP multicast group.

Secondly, the external test equipment sends a diagnostic message in the functional addressing communication mode to the server.

When the external test equipment needs to initiate diagnostic communication in the functional addressing mode, it should query the built-in functional group address mapping table (ie Table 2) to convert the destination functional group address in the diagnostic message into an IP multicast address.

In one embodiment, the port number used by the agreed function addressing communication mode is 13401.

As shown in Figures 2 and 3, after adopting the functional addressing mode to adopt the IP multicast mode, the data packet format above the DoIP layer remains unchanged from the original TCP mode. In order to be able to adopt the multicast mode, the transport layer is carried on UDP. Above, the target IP address of the IP layer is an IP multicast address. The upper-level diagnostic processing logic remains unchanged, maximizing compatibility with the original processing mechanism.

The IP header (IP Header) is generally composed of 20 bytes. In special cases, there will be an optional (Option) field. After the IP header is the IP data payload (data). Figure 4 shows the structure diagram of the IP data load, where the destination address (Destination Address), when using TCP for one-to-one communication, fill in the IP address of the server (ECU); when using UDP multicast, query Function group address and IP multicast mapping table, fill in the multicast IP address corresponding to the server (ECU) function group address. For other IP header fields, the contents are the same in the two communication modes.

The TCP Header field generally consists of 20 bytes. In special cases, there will also be an optional (Option) field. After the TCP header is the TCP data payload (data), as shown in Figure 5 for the TCP data payload. Schematic. In the existing DoIP protocol agreement, whether it is single-point one-to-one communication or one-to-many communication, TCP is used uniformly.

The UDP Header is composed of fixed 8 bytes, and its structure is shown in Figure 6. Because the TCP protocol itself is designed for one-to-one communication, it does not support multicast mode; while UDP supports multicast mode. Therefore, when using multicast for one-to-many communication, you need to use UDP to encapsulate data packets in the format of the UDP header.

After the IP layer external test equipment type is changed from unicast to multicast, the client only needs to process it once when processing the function addressing and sending, and send a data packet. It no longer needs to be like unicast mode. The target node sends a piece of data separately. As shown in Figures 7 and 8, after adopting the multicast mode, the processing time of the external test equipment, the overall communication time, and the occupation of system bandwidth will be improved.

Finally, after the server receives the functionally addressed diagnostic message, it performs diagnostic processing.

As shown in Figure 9, the processing mechanism after the server receives the functional addressing diagnostic message is as follows:

(a) The server (ECU) judges whether the logical address information of the external test equipment in the diagnosis message is registered. The registration process is shown in Figure 1. If there is no registration, the server (ECU) returns a failure response code to the external test device, and then closes the current TCP connection; if there is registration, go to the next step.

(b) The server (ECU) judges whether the function group address in the diagnostic message is supported by itself, the function address group to which the server belongs is preset, and the specific server only receives the message of the function address group to which it belongs. If the functional group address is unknown, the server (ECU) returns a failure response code to the external test equipment; if the functional group address is known, go to the next step.

(c) The server (ECU) returns a successful response code to the external test equipment, and sends the relevant diagnostic data to the corresponding diagnostic processing module for the next step of processing.

Among them, the client logical address is first registered in the access authority authentication (route activation) process. Only the functional addressing mode multicast packet sent by the client that has gained access to the server will be received by the server.

The functional address group to which the server belongs is preset, and a specific server only receives messages from the functional address group to which it belongs.

The abbreviations in the manual are mainly as follows:

Table 3 Abbreviations

The invention uses Ethernet IP layer/MAC layer multicast and broadcast modes to realize the functional addressing mode of automobile diagnostic communication. The present invention specifically adopts the functional address and IP address mapping table, and uses the TCP and routing activation restriction authority access mechanism and the improved Ethernet multicast mechanism, and adopts the multicast mode, which not only meets the safety requirements of automobile diagnosis services, but also can The one-to-many communication mode that realizes the addressing mode of the automotive Ethernet function, the processing time of the external test equipment, the overall communication time, and the occupation of the system bandwidth have been well improved.

Claims

A function addressing method for a unified diagnostic service based on automotive Ethernet, which is characterized in that it includes the following steps:

Step S1, establishing a mapping table between functional group addresses and IP multicast addresses;

Step S2, complete the server's control of the access authority of the external test equipment, and add the server to the IP multicast group according to the mapping table;

Step S3, sending a diagnostic message in the functional addressing communication mode to the server in the IP multicast group, the diagnostic message containing the IP multicast address;

Step S4, perform diagnostic processing according to the diagnostic message in the functional addressing mode;

Wherein, the server has a functional group address and an IP address, and the IP multicast address includes an IP address.
The function addressing method of a unified diagnostic service based on automotive Ethernet according to claim 1, wherein the step S2 comprises:

Step S21, searching for the IP address of the server;

Step S22, establish a TCP connection with the server device;

Step S23, a request message for routing activation is sent, and the request message contains the logical address of the external test device;

Step S24, judge whether the diagnosis communication can be performed according to the logical address, if the diagnosis communication can be performed, mark the current TCP connection as active, and perform step S25; otherwise, perform step S26;

Step S25: According to the mapping table, find out the IP multicast address corresponding to the functional group address of the server, add the server to the IP multicast group, and mark the logical address as active;

Step S26, disconnect the current TCP connection. If there is no other connection between the external test device and the server at this time, the server exits the IP multicast group.
The function addressing method of a unified diagnostic service based on automobile Ethernet according to claim 1, wherein, in step S3, according to the IP multicast address in the diagnostic message, the external test equipment will The diagnostic message in the functional addressing communication mode is sent to the server in the IP multicast group, wherein the data packet of the IP multicast address is encapsulated according to the user data packet protocol.
The method for addressing functions of a unified diagnostic service based on automotive Ethernet according to claim 2, wherein said step S4 comprises:

Step S41, check whether the logical address of the external test device is activated, and if so, proceed to the next step; otherwise, send a failure response code to the external test device and close the current TCP connection;

Step S42, judging whether the server supports the functional group address corresponding to the IP multicast address in the diagnostic message, if so, execute the next step; otherwise, send a failure response code to the external test device and discard the diagnostic message;

Step S43: Send a successful response code to the external test equipment, report the diagnosis message to the diagnosis processing module in the server, and start the diagnosis process.
An external test equipment used to implement functional addressing of unified diagnostic services on automotive Ethernet, characterized in that:

The external test device sends a routing activation request message to the server. After the routing is activated, the server is added to the IP multicast group according to the mapping table between the functional group address and the IP multicast address, and the functional addressing communication mode is also sent when diagnosing communication Diagnose the diagnosis message to the server in the IP multicast group for diagnosis processing;

Wherein, the server has a functional group address and an IP address, and the diagnosis message includes an IP multicast address.
The external test equipment according to claim 5, wherein:

The request message contains logical address information of the external test device, which is used by the server to determine whether the external test device has the authority to perform diagnostic communication.
An in-vehicle network system for realizing the functional addressing of a unified diagnostic service on the automotive Ethernet, including a gateway and a server, the gateway is used for diagnostic communication based on an IP network, and is characterized in that:

The gateway is used to establish a TCP connection between an external test device and a server, and to embed the mapping table between the function group address and the IP multicast address on its internal node related to the diagnostic function;

The server receives a routing activation request message sent by an external test device and determines whether the external test device has the authority to perform diagnostic communication; during diagnostic communication, it receives a diagnostic message in a functional addressing communication mode and performs diagnostic processing.
The vehicle-mounted network system according to claim 7, wherein:

According to the logical address information of the external test device contained in the request message, the server determines whether the external test device is authorized to perform diagnostic communication according to the logical address information.
The vehicle-mounted network system according to claim 7, wherein:

The server contains a diagnostic processing module, which can perform diagnostic processing based on diagnostic messages.
The vehicle-mounted network system of claim 7, wherein the communication connection between the external device and the server includes wireless communication and wired communication;

The wireless communication includes at least one of Wifi, 4G, 5G, and Bluetooth.