CN111327689A - Method for realizing remote upgrading of vehicle ECU (electronic control Unit) based on UDS (Universal data System) communication protocol - Google Patents

Method for realizing remote upgrading of vehicle ECU (electronic control Unit) based on UDS (Universal data System) communication protocol Download PDF

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CN111327689A
CN111327689A CN202010074474.6A CN202010074474A CN111327689A CN 111327689 A CN111327689 A CN 111327689A CN 202010074474 A CN202010074474 A CN 202010074474A CN 111327689 A CN111327689 A CN 111327689A
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ecu
vehicle
upgrading
upgrade
data
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金高辉
周宏伟
侯杨杨
李晓伟
张家如
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Dayun Automobile Co Ltd
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Dayun Automobile Co Ltd
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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 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
    • 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
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/30—Definitions, standards or architectural aspects of layered protocol stacks
    • H04L69/32—Architecture of open systems interconnection [OSI] 7-layer type protocol stacks, e.g. the interfaces between the data link level and the physical level
    • H04L69/322—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions
    • H04L69/329—Intralayer communication protocols among peer entities or protocol data unit [PDU] definitions in the application layer [OSI layer 7]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

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Abstract

The invention relates to a device and a method for remotely upgrading vehicle ECUs, and provides a method for remotely upgrading the vehicle ECUs based on a UDS communication protocol, aiming at the current situation that different vehicle factories need to independently develop respective vehicle ECU remote upgrading systems. According to the invention, a vehicle UDS diagnostic protocol and a remote monitoring platform scheme are worked out based on CAN communication data of a vehicle, data upgrading of a vehicle ECU is realized remotely through a hardware vehicle-mounted terminal 4G module, the ECU does not need to be upgraded manually on line, the upgrading time of the vehicle ECU CAN be set at the background, and the ECU is automatically upgraded through remote networking after the set time is reached. An ECU delivery recovery mechanism is specified in the UDS protocol, so that the conditions of ECU crash damage, data loss and the like caused by networking failure in the upgrading process are avoided. According to the invention, the cloud platform, the vehicle-mounted hardware and the data management algorithm are established, and the encryption security access is carried out by combining the UDS diagnostic protocol, so that the ECU is safer and more convenient to upgrade.

Description

Method for realizing remote upgrading of vehicle ECU (electronic control Unit) based on UDS (Universal data System) communication protocol
Technical Field
The invention relates to a vehicle ECU remote upgrading device and a method, in particular to a method for realizing vehicle ECU remote upgrading based on a UDS communication protocol.
Background
Automobiles are more and more popular in life, and after mass production, many problems often occur to more and more automobiles, automobile factories need to upgrade sold automobile ECUs (Electronic Control units, also called as "driving computers", "vehicle-mounted computers", and the like), generally, automobile owners need to drive the automobiles to a specified 4S store or return to the factory, and the ECUs are upgraded manually by special workers. At present, in a traditional upgrading program method, a worker ECU is used for detaching a board or welding a circuit chip, and a lower computer is used for manually downloading the line for flashing, so that a large part of work occupied by time, manpower and financial resources is caused, the working efficiency is low, and errors are easy to make.
Vehicle remote control and data monitoring have many applications in the field of intelligent science and technology. Vehicle ECU remote upgrade has been applied to existing vehicles; however, different vehicle factories need to independently develop respective vehicle ECU remote upgrading systems.
Disclosure of Invention
The invention provides a method for realizing remote upgrading of vehicle ECU (electronic control unit) based on a UDS (universal data system) communication protocol, aiming at the current situation that different vehicle factories need to independently develop respective vehicle ECU remote upgrading systems.
The invention is realized by adopting the following technical scheme: the method for realizing the remote upgrade of the vehicle ECU based on the UDS communication protocol comprises an equipment cloud server, a vehicle-mounted TBOX (Telematics BOX), a TSP (Telematics Service Provider) management system and a vehicle-mounted ECU.
The UDS diagnosis upgrading process comprises the following steps:
UDS (unified diagnostic services) is directed to all ECUs of a vehicle. It is only an application layer protocol (ISO 14229-1), so it CAN be implemented on both CAN lines and even Ethernet. And the UDS provides a basic framework of diagnostic services, and a host factory and a part supplier can select to implement part of the diagnostic services or customize the diagnostic services into a plurality of privatized diagnostic services according to actual conditions.
The vehicle-mounted ECU of the whole vehicle is connected with the vehicle-mounted TBOX through a CAN bus; the CAN bus is divided into a power CAN bus PTCAN, a vehicle body CAN bus BCAN and an information CAN bus InfoCAN (shown in figure 1); the PTCAN is connected with: the system comprises a vehicle control unit VCU, a battery management system BMS, a direct current conversion CDU, a front motor controller MCUF, a rear motor controller MCUR, an electric power steering system EPS and an anti-lock brake system ABS; the BCAN is connected with: the system comprises a vehicle control unit VCU, an air bag ACU, an air conditioner AC, a compressor ACCM, an anti-pinch PWU and a vehicle body module BCM; connected to the InfoCAN are: the system comprises a vehicle control unit VCU, a combination instrument IC and a pedestrian early warning AVAS.
Vehicle-mounted ECU bootloader diagnostic upgrade protocol (as shown in fig. 2): ECU Bootloader starts the time sequence, in Bootloader mode, uses three diagnosis conversation modes: a default session mode, an extended session mode and a programming session mode; if the ECU receives "10 h02 h" under the correct conditions, the ECU asserts the external reprogramming request flag and executes an ECU restart.
1. The first step is to pre-program the file upgrading process:
an ECU upgrading preprogramming step, wherein after the TBOX receives a TSP platform instruction, the TBOX downloads a flash file from the TSP, and then carries out edition recognition on the ECU for preprogramming, and the specific flow is as follows (as shown in figure 3):
1) reading hardware version number of ECU: 22hF1h93 h;
2) reading version number of boot software: 22hF1h95 h;
3) diagnostic session control 10h 03 h: preprogramming requires that a non-default session mode be initiated in order to disable normal communication between ECUs and control the DTC (diagnostic trouble Code) settings. This is done by using a diagnostic session control (10h) service with the session type being an extended session mode. The request is sent to all ECUs through functional addressing by using a single-frame request message;
4) routine control, checking preprogrammed conditions: 31h 01h FFh 02h, through which the ECU programming conditions are checked to ensure system safety, the preprogrammed check conditions being determined by the ECU, which should refuse programming if there are any unsafe factors;
5) function request, disable DTC storage: 85h02h, prohibiting the DTC from storing fault information, and preventing the influence on the reprogramming communication network;
6) function request, disable non-diagnostic communication: 85h03h, the receiving and sending of the non-diagnosis message are forbidden, and the influence on the reprogramming communication network is prevented.
2. The second step is the upgrading process of the main programming file:
the ECU upgrades the main programming step, which is followed by the pre-programming step. The main programming sequence is the application of a single ECU programming event, so all requests for service use physical addressing, the specific flow is as follows (as shown in fig. 4):
1) diagnostic session control 10h 02 h: after receiving that an addressing mode is physical addressing and a subfunction is a diagnosis session control 10h service of a programming session, the ECU starts a Bootloader and allocates all resources required by programming; the ECU needs to send a positive response first and then executes the action of jumping to a programming mode;
2) secure access 27h 03h/04 h: the programming event must be through a secure access 27h service that is mandatory in emission-related and security systems, which other systems do not require to use. Before downloading, the safe access process is mandatory, and only a legal diagnostic instrument can download the ECU;
3) writing fingerprint information: 2EhF1h84h, writing the serial number of year, month, day and equipment;
4) downloading the FlashDriver, controlling the routine, and checking the integrity of the FlashDriver: 31h 01h F1h A0h, which is used to check the integrity of the logic block;
5) routine control, erasing program memory: 31h 01h FFh00h, in order to allow application software and data downloading, the memory of the ECU is erased; this step is performed by the routine control service 31h to erase the memory; if the memory erasing routine is called to be executed, the flag bit of the application software is set to be invalid;
6) drive download 34h, 36h, 37h, 31 h: when the memory drive is not stored in the nonvolatile storage unit of the ECU, the downloading of the memory drive is executed; the downloading is performed according to the following sequence: requesting downloading, transmitting data and requesting transmission to quit; after all bytes have been downloaded, a "check program integrity" routine 31h 01h F1h A0h is used to check that all bytes were transferred correctly;
7) after the integrity check, judging whether other data blocks need to be downloaded, if so, jumping to 31h FFh00h), and if not, continuing to go downwards;
8) routine control, checking for programmed dependencies: 31h 01h FFh 01h, TBOX will start a routine to trigger the ECU to check for reprogramming dependencies once all application software or data blocks/modules are downloaded; the ECU vendor defines the inspection content, but must ensure compatibility and consistency of all logic blocks;
9) resetting the ECU: the 11h 01h diagnostic instrument uses physical addressing to send an ECU reset 11h service request message with a reset type of hard reset to the CAN network; the ECU finishes the reprogramming process through the ECU reset service request and returns to the normal operation mode; the memory drive code must be completely cleared from the RAM cache to avoid accidentally activating code that may perform unintended memory erasures or program operations;
3. the third step is a flash process:
program download (as shown in fig. 5): each successive block (also called segment, which may be a complete piece of application software or data or a portion of application software or data) of application software or data is downloaded into the ECU nonvolatile memory, and the data transmission is completed according to the following service sequence:
requesting to download 34 h;
transmitting data 36 h;
request transmission exit 37 h;
when the length of a single application software or data block exceeds the cache size of a network layer, the single application software or data block needs a plurality of data transmission 36h request messages to complete transmission;
secondly, remote upgrade management:
2.1 remote upgrade management
According to the scheme, the ECU software and hardware versions of the vehicle can be managed in the whole life cycle of the vehicle, the upgrading task is automatically issued differentially by issuing the upgrading package, and the vehicle is appointed to be upgraded at the preset time. In the downloading and upgrading process, the platform has a corresponding remote downloading and upgrading strategy and a version rollback function. After the download is finished and the upgrade is finished, the platform can count the success rate of the batch upgrade and the failure reason. The remote upgrade flow is shown in fig. 6.
2.2 background upgrade flow description:
1. the operator provides the upgrade version and the software package to the Tsp, and the Tsp verifies the validity of the upgrade package and then issues the version update to an OTA (Over-the-Air Technology) database through the platform.
2. And after the platform releases the upgrading task and reaches the specified time, the Tsp verifies the difference between the version and the current version again, determines the upgrading range and makes a complete packet/difference packet.
3. When the update message is confirmed to be issued, the Tsp OTA server informs the vehicle T-Box that the new software version exists. And returning the version information by the T-box.
And 4, the Tsp determines the content of the differential version and then transmits the content back to the T-box, and the T-box communicates with the Tsp to obtain the version number.
5. And when the downloading condition is met, the T-box carries out the downloading process. The midway interruption judges whether the time exceeds 2 hours or not to decide the breakpoint continuous transmission or the re-downloading.
6. After the upgrade package is completely downloaded through the downloading process, the integrity of the CRC (Cyclic Redundancy Check) electronic signature is checked.
7. And judging whether the T-box has higher-priority events or not so as to perform upgrading action.
8. And after the upgrade is finished, transmitting the upgrade result and the current version information back to the Tsp for preservation and coverage.
2.3 software data packet encryption:
encryption the upgrade software package is encrypted using AES-128. The vendor generates an AES-128 key, which is kept secret and can only be used once. A new AES-128 key will be generated the next time. The delivered software package should contain the encrypted upgrade software package, the electronic certificate, and the encrypted AES-128 key. The encrypted AES-128 key is protected by the RSA encryption method using a private key, the public key of which is contained in the electronic certificate.
Thirdly, the equipment cloud server is implemented:
the cloud platform architecture of the device cloud server comprises a value-added application layer, an application management layer, a big data service layer, a basic service layer, a data access layer and a device access layer; the cloud platform architecture is subdivided in a modularization mode, and the modularization design can ensure the opening of basic functions and the expansion of later functions and business volumes, so that the disorder of functions and logic is avoided.
In specific implementation, the equipment cloud server is a cloud server based on Hua;
meanwhile, the cloud server of the device is required to have load balancing service so as to realize cloud service of flow distribution, and an effective and transparent method is provided for expanding the bandwidth of the network device and the server. The load balancing service increases the throughput, strengthens the network data processing capacity, and improves the flexibility and the usability of the network and the capacity of an application system to deal with high load. The load balancing service can be generally used as a network entrance of the application system, and distributes the user request to the cloud server cluster, so that the elastic expansion of the application system is realized.
According to the invention, a vehicle UDS diagnostic protocol and a remote monitoring platform scheme are worked out based on CAN communication data of a vehicle, data upgrading of a vehicle ECU is realized remotely through a hardware vehicle-mounted terminal 4G module, the ECU does not need to be upgraded manually on line, the upgrading time of the vehicle ECU CAN be set at the background, and the ECU is automatically upgraded through remote networking after the set time is reached. An ECU delivery recovery mechanism is specified in the UDS protocol, so that the conditions of ECU crash damage, data loss and the like caused by networking failure in the upgrading process are avoided. According to the invention, the cloud platform, the vehicle-mounted hardware and the data management algorithm are established, and the encryption security access is carried out by combining the UDS diagnostic protocol, so that the ECU is safer and more convenient to upgrade.
Drawings
FIG. 1 is a vehicle network topology of the present invention;
FIG. 2 is a flow chart of a vehicle-mounted ECU bootloader diagnostic upgrade protocol;
FIG. 3 is a flow chart of an ECU upgrade pre-programmed protocol;
FIG. 4 is a flowchart of an ECU upgrade main programming protocol;
FIG. 5 is a flowchart of program download;
FIG. 6 is a remote upgrade flow diagram.
Detailed Description
The method for realizing the remote upgrade of the vehicle ECU based on the UDS communication protocol comprises an equipment cloud server, a vehicle-mounted TBOX (Telematics BOX), a TSP (Telematics Service Provider) management system and a vehicle-mounted ECU.
The UDS diagnosis upgrading process comprises the following steps:
UDS (unified diagnostic services) is directed to all ECUs of a vehicle. It is only an application layer protocol (ISO 14229-1), so it CAN be implemented on both CAN lines and even Ethernet. And the UDS provides a basic framework of diagnostic services, and a host factory and a part supplier can select to implement part of the diagnostic services or customize the diagnostic services into a plurality of privatized diagnostic services according to actual conditions.
The vehicle-mounted ECU of the whole vehicle is connected with the vehicle-mounted TBOX through a CAN bus; the CAN bus is divided into a power CAN bus PTCAN, a vehicle body CAN bus BCAN and an information CAN bus InfoCAN (shown in figure 1); the PTCAN is connected with: the system comprises a vehicle control unit VCU, a battery management system BMS, a direct current conversion CDU, a front motor controller MCUF, a rear motor controller MCUR, an electric power steering system EPS and an anti-lock brake system ABS; the BCAN is connected with: the system comprises a vehicle control unit VCU, an air bag ACU, an air conditioner AC, a compressor ACCM, an anti-pinch PWU and a vehicle body module BCM; connected to the InfoCAN are: the system comprises a vehicle control unit VCU, a combination instrument IC and a pedestrian early warning AVAS.
Vehicle-mounted ECU bootloader diagnostic upgrade protocol (as shown in fig. 2): ECU Bootloader starts the time sequence, in Bootloader mode, uses three diagnosis conversation modes: a default session mode, an extended session mode and a programming session mode; if the ECU receives "10 h02 h" under the correct conditions, the ECU asserts the external reprogramming request flag and executes an ECU restart.
1. The first step is to pre-program the file upgrading process:
an ECU upgrading preprogramming step, wherein after the TBOX receives a TSP platform instruction, the TBOX downloads a flash file from the TSP, and then carries out edition recognition on the ECU for preprogramming, and the specific flow is as follows (as shown in figure 3):
1) reading hardware version number of ECU: 22hF1h93 h;
2) reading version number of boot software: 22hF1h95 h;
3) diagnostic session control 10h 03 h: preprogramming requires that a non-default session mode be initiated in order to disable normal communication between ECUs and control the DTC (diagnostic trouble Code) settings. This is done by using a diagnostic session control (10h) service with the session type being an extended session mode. The request is sent to all ECUs through functional addressing by using a single-frame request message;
4) routine control, checking preprogrammed conditions: 31h 01h FFh 02h, through which the ECU programming conditions are checked to ensure system safety, the preprogrammed check conditions being determined by the ECU, which should refuse programming if there are any unsafe factors;
5) function request, disable DTC storage: 85h02h, prohibiting the DTC from storing fault information, and preventing the influence on the reprogramming communication network;
6) function request, disable non-diagnostic communication: 85h03h, the receiving and sending of the non-diagnosis message are forbidden, and the influence on the reprogramming communication network is prevented.
2. The second step is the upgrading process of the main programming file:
the ECU upgrades the main programming step, which is followed by the pre-programming step. The main programming sequence is the application of a single ECU programming event, so all requests for service use physical addressing, the specific flow is as follows (as shown in fig. 4):
1) diagnostic session control 10h 02 h: after receiving that an addressing mode is physical addressing and a subfunction is a diagnosis session control 10h service of a programming session, the ECU starts a Bootloader and allocates all resources required by programming; the ECU needs to send a positive response first and then executes the action of jumping to a programming mode;
2) secure access 27h 03h/04 h: the programming event must be through a secure access 27h service that is mandatory in emission-related and security systems, which other systems do not require to use. Before downloading, the safe access process is mandatory, and only a legal diagnostic instrument can download the ECU;
3) writing fingerprint information: 2EhF1h84h, writing the serial number of year, month, day and equipment;
4) downloading the FlashDriver, controlling the routine, and checking the integrity of the FlashDriver: 31h 01h F1h A0h, which is used to check the integrity of the logic block;
5) routine control, erasing program memory: 31h 01h FFh00h, in order to allow application software and data downloading, the memory of the ECU is erased; this step is performed by the routine control service 31h to erase the memory; if the memory erasing routine is called to be executed, the flag bit of the application software is set to be invalid;
6) drive download 34h, 36h, 37h, 31 h: when the memory drive is not stored in the nonvolatile storage unit of the ECU, the downloading of the memory drive is executed; the downloading is performed according to the following sequence: requesting downloading, transmitting data and requesting transmission to quit; after all bytes have been downloaded, a "check program integrity" routine 31h 01h F1h A0h is used to check that all bytes were transferred correctly;
7) after the integrity check, judging whether other data blocks need to be downloaded, if so, jumping to 31h FFh00h), and if not, continuing to go downwards;
8) routine control, checking for programmed dependencies: 31h 01h FFh 01h, TBOX will start a routine to trigger the ECU to check for reprogramming dependencies once all application software or data blocks/modules are downloaded; the ECU vendor defines the inspection content, but must ensure compatibility and consistency of all logic blocks;
9) resetting the ECU: the 11h 01h diagnostic instrument uses physical addressing to send an ECU reset 11h service request message with a reset type of hard reset to the CAN network; the ECU finishes the reprogramming process through the ECU reset service request and returns to the normal operation mode; the memory drive code must be completely cleared from the RAM cache to avoid accidentally activating code that may perform unintended memory erasures or program operations;
3. the third step is a flash process:
program download (as shown in fig. 5): each successive block (also called segment, which may be a complete piece of application software or data or a portion of application software or data) of application software or data is downloaded into the ECU nonvolatile memory, and the data transmission is completed according to the following service sequence:
requesting to download 34 h;
transmitting data 36 h;
request transmission exit 37 h;
when the length of a single application software or data block exceeds the cache size of a network layer, the single application software or data block needs a plurality of data transmission 36h request messages to complete transmission;
secondly, remote upgrade management:
2.1 remote upgrade management
According to the scheme, the ECU software and hardware versions of the vehicle can be managed in the whole life cycle of the vehicle, the upgrading task is automatically issued differentially by issuing the upgrading package, and the vehicle is appointed to be upgraded at the preset time. In the downloading and upgrading process, the platform has a corresponding remote downloading and upgrading strategy and a version rollback function. After the download is finished and the upgrade is finished, the platform can count the success rate of the batch upgrade and the failure reason. The remote upgrade flow is shown in fig. 6.
2.2 background upgrade flow description:
1. the operator provides the upgrade version and the software package to the Tsp, and the Tsp verifies the validity of the upgrade package and then issues the version update to an OTA (Over-the-Air Technology) database through the platform.
2. And after the platform releases the upgrading task and reaches the specified time, the Tsp verifies the difference between the version and the current version again, determines the upgrading range and makes a complete packet/difference packet.
3. When the update message is confirmed to be issued, the Tsp OTA server informs the vehicle T-Box that the new software version exists. And returning the version information by the T-box.
And 4, the Tsp determines the content of the differential version and then transmits the content back to the T-box, and the T-box communicates with the Tsp to obtain the version number.
5. And when the downloading condition is met, the T-box carries out the downloading process. The midway interruption judges whether the time exceeds 2 hours or not to decide the breakpoint continuous transmission or the re-downloading.
6. After the upgrade package is completely downloaded through the downloading process, the integrity of the CRC (Cyclic Redundancy Check) electronic signature is checked.
7. And judging whether the T-box has higher-priority events or not so as to perform upgrading action.
8. And after the upgrade is finished, transmitting the upgrade result and the current version information back to the Tsp for preservation and coverage.
2.3 software data packet encryption:
encryption the upgrade software package is encrypted using AES-128. The vendor generates an AES-128 key, which is kept secret and can only be used once. A new AES-128 key will be generated the next time. The delivered software package should contain the encrypted upgrade software package, the electronic certificate, and the encrypted AES-128 key. The encrypted AES-128 key is protected by the RSA encryption method using a private key, the public key of which is contained in the electronic certificate.
Thirdly, the equipment cloud server is implemented:
the cloud platform architecture of the device cloud server comprises a value-added application layer, an application management layer, a big data service layer, a basic service layer, a data access layer and a device access layer; the cloud platform architecture is subdivided in a modularization mode, and the modularization design can ensure the opening of basic functions and the expansion of later functions and business volumes, so that the disorder of functions and logic is avoided.
During specific implementation, the equipment cloud server is based on the cloud server, and main performance parameters of the equipment cloud server are as follows:
Figure BDA0002378309510000091
Figure BDA0002378309510000101
meanwhile, the cloud server of the device is required to have load balancing service so as to realize cloud service of flow distribution, and an effective and transparent method is provided for expanding the bandwidth of the network device and the server. The load balancing service increases the throughput, strengthens the network data processing capacity, and improves the flexibility and the usability of the network and the capacity of an application system to deal with high load. The load balancing service can be generally used as a network entrance of the application system, and distributes the user request to the cloud server cluster, so that the elastic expansion of the application system is realized.
The main performance parameters of the network security of the cloud server of the equipment are as follows:
Figure BDA0002378309510000102
Figure BDA0002378309510000111

Claims (1)

1. a method for realizing remote upgrading of a vehicle ECU (electronic control unit) based on a UDS (Universal data System) communication protocol comprises an equipment cloud server, a vehicle-mounted TBOX (tunnel boring machine), a TSP (Total suspended particulate) management system and a vehicle-mounted ECU; it is characterized in that the preparation method is characterized in that,
the UDS diagnosis upgrading process comprises the following steps:
the vehicle-mounted ECU of the whole vehicle is connected with the vehicle-mounted TBOX through a CAN bus; the CAN bus is divided into a power CAN bus PTCAN, a vehicle body CAN bus BCAN and an information CAN bus infoCAN; the PTCAN is connected with: the system comprises a vehicle control unit VCU, a battery management system BMS, a direct current conversion CDU, a front motor controller MCUF, a rear motor controller MCUR, an electric power steering system EPS and an anti-lock brake system ABS; the BCAN is connected with: the system comprises a vehicle control unit VCU, an air bag ACU, an air conditioner AC, a compressor ACCM, an anti-pinch PWU and a vehicle body module BCM; connected to the InfoCAN are: the system comprises a vehicle control unit VCU, a combination instrument IC and a pedestrian early warning AVAS;
the vehicle-mounted ECU bootloader diagnosis upgrading protocol comprises the following steps: ECU Bootloader starts the time sequence, in Bootloader mode, uses three diagnosis conversation modes: a default session mode, an extended session mode and a programming session mode; if the ECU receives 10h 02h under the correct condition, the ECU determines the position of the external reprogramming request mark to be valid and executes the ECU restart;
1. the first step is to pre-program the file upgrading process:
and (3) ECU upgrading and preprogramming, wherein after the TBOX receives a TSP platform instruction, the TBOX downloads a flash file from the TSP, and then carries out version identification on the ECU for preprogramming, and the specific flow is as follows:
1) reading hardware version number of ECU: 22hF1h93 h;
2) reading version number of boot software: 22hF1h95 h;
3) diagnostic session control 10h 03 h: to disable normal communication between ECUs and control DTC settings, pre-programming requires initiation of a non-default session mode; this is done by controlling the 10h service using a diagnostic session of which the session type is an extended session mode; the request is sent to all ECUs through functional addressing by using a single-frame request message;
4) routine control, checking preprogrammed conditions: 31h 01h FFh 02h, through which the ECU programming conditions are checked to ensure system safety, the preprogrammed check conditions being determined by the ECU, which should refuse programming if there are any unsafe factors;
5) function request, disable DTC storage: 85h02h, prohibiting the DTC from storing fault information, and preventing the influence on the reprogramming communication network;
6) function request, disable non-diagnostic communication: 85h03h, the receiving and sending of the non-diagnostic message are forbidden, and the influence on the reprogramming communication network is prevented;
2. the second step is the upgrading process of the main programming file:
an ECU upgrading main programming step, which is a main programming step after the pre-programming step; the main programming sequence is the application of a single ECU programming event, so all requests for service use physical addressing, the specific flow is as follows:
1) diagnostic session control 10h 02 h: after receiving that an addressing mode is physical addressing and a subfunction is a diagnosis session control 10h service of a programming session, the ECU starts a Bootloader and allocates all resources required by programming; the ECU needs to send a positive response first and then executes the action of jumping to a programming mode;
2) secure access 27h 03h/04 h: the programming event must be through a secure access 27h service that is mandatory in emission-related and security systems, other systems do not require the use of this service; before downloading, the safe access process is mandatory, and only a legal diagnostic instrument can download the ECU;
3) writing fingerprint information: 2EhF1h84h, writing the serial number of year, month, day and equipment;
4) downloading the FlashDriver, controlling the routine, and checking the integrity of the FlashDriver: 31h 01h F1h A0h, which is used to check the integrity of the logic block;
5) routine control, erasing program memory: 31h 01h FFh00h, in order to allow application software and data downloading, the memory of the ECU is erased; this step is performed by the routine control service 31h to erase the memory; if the memory erasing routine is called to be executed, the flag bit of the application software is set to be invalid;
6) drive download 34h, 36h, 37h, 31 h: when the memory drive is not stored in the nonvolatile storage unit of the ECU, the downloading of the memory drive is executed; the downloading is performed according to the following sequence: requesting downloading, transmitting data and requesting transmission to quit; after all bytes have been downloaded, a "check program integrity" routine 31h 01h F1h A0h is used to check that all bytes were transferred correctly;
7) after the integrity check, judging whether other data blocks need to be downloaded, if so, skipping to 31hFFh 00h, and if not, continuing to go downwards;
8) routine control, checking for programmed dependencies: 31h 01h FFh 01h, TBOX will start a routine to trigger the ECU to check for reprogramming dependencies once all application software or data blocks/modules are downloaded; the ECU vendor defines the inspection content, but must ensure compatibility and consistency of all logic blocks;
9) resetting the ECU: the 11h 01h diagnostic instrument uses physical addressing to send an ECU reset 11h service request message with a reset type of hard reset to the CAN network; the ECU finishes the reprogramming process through the ECU reset service request and returns to the normal operation mode; the memory drive code must be completely cleared from the RAM cache to avoid accidentally activating code that may perform unintended memory erasures or program operations;
3. the third step is a flash process:
and (3) program downloading: each successive data block of application software or data is downloaded into the ECU non-volatile memory, and the data transmission is completed following the following service sequence:
requesting to download 34 h;
transmitting data 36 h;
request transmission exit 37 h;
when the length of a single application software or data block exceeds the cache size of a network layer, the single application software or data block needs a plurality of data transmission 36h request messages to complete transmission;
secondly, remote upgrade management:
2.1 remote upgrade management
Managing the software and hardware versions of the vehicle ECU in the whole life cycle of the vehicle, automatically performing differential release upgrading tasks by releasing an upgrading package, and designating the vehicle to be upgraded at preset time; in the downloading and upgrading process, the platform has a corresponding remote downloading and upgrading strategy and a version rollback function; after the download is finished and the upgrade is finished, the platform can count the success rate of the batch upgrade and the failure reason;
2.2 background upgrade flow description:
1. the operator provides the upgrade version and the software package to the Tsp, and the Tsp verifies the validity of the upgrade package and then releases the version to be updated to the OTA database through the platform;
2. after the platform releases the upgrading task and reaches the designated time, the Tsp verifies the difference between the version and the current version again, determines the upgrading range and makes a complete packet/difference packet;
3. when the upgrade message is confirmed to be issued, the Tsp OTA server informs the vehicle T-Box that a new software version exists; returning version information by the T-box;
the Tsp determines the content of the differential version and then transmits the content back to the T-box, and the T-box communicates with the Tsp to obtain the version number;
5. when the downloading condition is met, the T-box carries out the downloading process; judging whether the midway interruption exceeds 2 hours or not to decide breakpoint transmission or re-downloading;
6. after the upgrade package is completely downloaded in the downloading process, checking CRC; electronic signature integrity;
7. judging whether an event with higher priority exists by the T-box so as to carry out upgrading action;
8. after the upgrade is finished, transmitting the upgrade result and the current version information back to the Tsp for preservation and coverage;
2.3 software data packet encryption:
encryption uses AES-128 to encrypt the upgrade software package; the supplier generates an AES-128 key, keeps secret and can only be used once; the next time a new AES-128 key will be generated; the delivered software package should contain the encrypted upgrade software package, the electronic certificate, and the encrypted AES-128 key; the encrypted AES-128 key is protected by the RSA encryption method using a private key, the public key of which is contained in the electronic certificate;
thirdly, the equipment cloud server is implemented:
the cloud platform architecture of the device cloud server comprises a value-added application layer, an application management layer, a big data service layer, a basic service layer, a data access layer and a device access layer;
the equipment cloud server is a cloud server based on China;
meanwhile, the cloud server of the device is required to have load balancing service so as to realize cloud service of flow distribution, and an effective and transparent method is provided for expanding the bandwidth of the network device and the server; the load balancing service serves as a network entrance of the application system, and distributes the user request to the cloud server cluster, so that elastic expansion of the application system is achieved.
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