CN113553285A - Electronic control unit, frame generation method, and recording medium - Google Patents

Electronic control unit, frame generation method, and recording medium Download PDF

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Publication number
CN113553285A
CN113553285A CN202110894843.0A CN202110894843A CN113553285A CN 113553285 A CN113553285 A CN 113553285A CN 202110894843 A CN202110894843 A CN 202110894843A CN 113553285 A CN113553285 A CN 113553285A
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information
frame
network
message
electronic control
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CN113553285B (en
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前田学
芳贺智之
佐佐木崇光
松岛秀树
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Panasonic Intellectual Property Corp of America
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    • 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]
    • H04L12/2803—Home automation networks
    • H04L12/283—Processing of data at an internetworking point of a home automation network
    • H04L12/2836—Protocol conversion between an external network and a home network
    • 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
    • H04L12/40006—Architecture of a communication node
    • H04L12/40013—Details regarding a bus controller
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/38—Information transfer, e.g. on bus
    • G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
    • G06F13/4204—Bus transfer protocol, e.g. handshake; Synchronisation on a parallel bus
    • G06F13/4221—Bus transfer protocol, e.g. handshake; Synchronisation on a parallel bus being an input/output bus, e.g. ISA bus, EISA bus, PCI bus, SCSI bus
    • 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
    • H04L12/40006—Architecture of a communication node
    • 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
    • H04L12/40169—Flexible bus arrangements
    • 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]
    • H04L12/46—Interconnection of networks
    • H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
    • H04L12/462—LAN interconnection over a bridge based backbone
    • H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
    • 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
    • H04L69/08—Protocols for interworking; Protocol conversion
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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  • Automation & Control Theory (AREA)
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  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computing Systems (AREA)
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  • Computer Security & Cryptography (AREA)

Abstract

The present disclosure relates to an electronic control unit, a frame generation method, and a recording medium. An E-ECU (200a) is connected to a 1 st network, and has a generation unit (220) for generating a 1 st frame in accordance with a 1 st communication protocol and a transmission unit (230) for transmitting the 1 st frame generated by the generation unit (220) to the 1 st network, wherein the generation unit (220) includes, in the 1 st frame, 1 st information and 2 nd information, and generates the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to the 2 nd network, and the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network.

Description

Electronic control unit, frame generation method, and recording medium
The present application is a divisional application of a patent application entitled "electronic control unit, frame generation method, and program" with application number 201780004574.8 filed on 20/4/2017.
Technical Field
The present disclosure relates to a message processing technique of an electronic control unit that performs communication in an in-vehicle network.
Background
In recent years, many devices called Electronic Control Units (ECU) are arranged in systems in automobiles. The network connecting these ECUs is called an in-vehicle network. There are a number of standards in the on-board network. Among them, as one of the most popular in-vehicle networks, there is a standard such as CAN (Controller Area Network) defined by ISO 11898-1. In the CAN, each ECU (node) connected to a bus as a wired transmission path (communication path) transmits and receives a frame (message). In the CAN, there is no identifier indicating a transmission destination or a transmission source, the transmission node transmits (i.e., transmits a signal to the bus) a frame-by-frame ID, and each reception node receives only a message of a preset CAN-ID (i.e., reads a signal from the bus). As a standard for transmitting more information, there is a standard such as Ethernet (registered trademark) specified by IEEE 802.3. A frame (message) of Ethernet (registered trademark) includes information indicating a transmission destination and/or a transmission source in a header. In Ethernet (registered trademark), the maximum amount of data that CAN be transmitted in 1 frame is larger than CAN.
Patent document 1 describes a gateway that relays messages between a device conforming to the CAN protocol and a device conforming to the Ethernet (registered trademark) protocol or the like.
Documents of the prior art
Patent document
0004]
Patent document 1 Japanese laid-open patent publication No. 2016-111477
Disclosure of Invention
Problems to be solved by the invention
In a vehicle-mounted network system including a network of Ethernet (registered trademark) and a CAN network, an Electronic Control Unit (ECU) communicating with other electronic control units has an interface of at least one of Ethernet (registered trademark) and CAN, respectively. In this case, it is necessary for the electronic control unit that communicates with the electronic control unit having the Ethernet (registered trademark) interface and that also communicates with the electronic control unit connected to the CAN bus (i.e., the electronic control unit having the CAN interface) to have two kinds of interfaces, respectively, which has a problem of cost increase and the like. Therefore, it is desirable that the electronic control unit having only the Ethernet (registered trademark) interface, for example, CAN transmit information to the electronic control unit connected to the bus of the CAN via the gateway or the like. Further, patent document 1 does not show how an electronic control unit (hereinafter, also referred to as "E-ECU") having an Ethernet (registered trademark) interface should be configured and transmit a message to be transmitted to an electronic control unit (hereinafter, also referred to as "C-ECU") connected to a bus of a CAN.
Accordingly, the present disclosure provides an electronic control unit: it has an interface to a 1 st network such as Ethernet (registered trademark) and is capable of transmitting a frame (message) suitable for information transfer to an electronic control unit connected to a bus of a 2 nd network such as CAN. In addition, the present disclosure provides a frame generation method of generating a frame suitable for information transfer to the 2 nd network and a program used in the electronic control unit.
Means for solving the problems
In order to solve the above problem, an electronic control unit according to one aspect of the present disclosure is an in-vehicle network system including a 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in accordance with a 1 st communication protocol, the 2 nd network being a network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol, the electronic control unit including: a generation unit which generates a 1 st frame in accordance with a 1 st communication protocol; and a transmitting unit that transmits the 1 st frame generated by the generating unit to the 1 st network, wherein the generating unit includes 1 st information and 2 nd information in the 1 st frame, and generates the 1 st frame, the 1 st information is a base of a 2 nd frame to be transmitted to the 2 nd network, and the 2 nd information indicates that the 1 st frame includes information to be transmitted to the 2 nd network.
In order to solve the above problem, a frame generation method according to an aspect of the present disclosure generates a frame to be transmitted by an electronic control unit connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in accordance with a 1 st communication protocol, and the 2 nd network being a network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol, the frame generation method including: the 1 st frame is generated in accordance with a 1 st communication protocol so that 1 st information and 2 nd information are included in the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to a 2 nd network, and the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network.
In order to solve the above-described problems, a program according to one aspect of the present disclosure causes an electronic control unit including a microprocessor to execute predetermined information processing, the electronic control unit being connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in accordance with a 1 st communication protocol, the 2 nd network being a network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol, the predetermined information processing including: a generation step of generating a 1 st frame in conformity with a 1 st communication protocol; and a transmission step of transmitting the 1 st frame generated in the generation step to the 1 st network, wherein the generation step includes the 1 st frame with 1 st information and 2 nd information, and the 1 st frame is generated, the 1 st information being a base of the 2 nd frame to be transmitted to the 2 nd network, and the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network.
Effects of the invention
According to the present disclosure, an electronic control unit (E-ECU) connected to an Ethernet (registered trademark) network CAN appropriately perform information transmission to an electronic control unit (C-ECU) connected to a CAN bus via the Ethernet (registered trademark) network.
Drawings
Fig. 1 is a diagram showing the overall configuration of an in-vehicle network system according to embodiment 1.
Fig. 2 is a diagram showing a schematic configuration of the in-vehicle network according to embodiment 1.
Fig. 3 is a diagram showing a format of an Ethernet (registered trademark) frame (also referred to as an "E message") transmitted and received in a part of the in-vehicle network according to embodiment 1.
Fig. 4 is a diagram showing an example of the structure of the payload of the E message (structure including 1 CAN message information).
Fig. 5 is a diagram showing an example of a structure of a payload of an E message (a structure including a plurality of CAN message information).
Fig. 6 is a diagram showing the format of a data frame specified by the CAN protocol.
Fig. 7 is a configuration diagram of an electronic control unit (E-ECU) according to embodiment 1.
Fig. 8 is a diagram showing an example of a destination table used in the E-ECU of embodiment 1.
Fig. 9 is a configuration diagram of a HUB (HUB) according to embodiment 1.
Fig. 10 is a diagram showing an example of a MAC (Media Access Control) address table used in the HUB of embodiment 1.
Fig. 11 is a flowchart showing an example of the operation of the E-ECU of embodiment 1.
Fig. 12 is a flowchart showing an example of the operation of the HUB according to embodiment 1.
Fig. 13 is a sequence diagram showing an example of message transmission in the in-vehicle network system of embodiment 1.
Fig. 14 is a diagram showing a schematic configuration of the in-vehicle network according to embodiment 2.
Fig. 15 is a structural diagram of the HUB according to embodiment 2.
Fig. 16 is a configuration diagram of a converter according to embodiment 2.
Fig. 17 is a diagram showing a schematic configuration of the in-vehicle network according to embodiment 3.
Fig. 18 is a structural diagram of a HUB according to embodiment 3.
Fig. 19 is a diagram showing an example of a destination table used in the HUB of embodiment 3.
Fig. 20 is a structural diagram of a HUB according to embodiment 4.
Fig. 21 is a flowchart showing an example of the operation of the E-ECU of embodiment 4.
Fig. 22 is a flowchart showing an example of the operation of the HUB according to embodiment 4.
Fig. 23 is a diagram showing an example of a destination table used in the E-ECU of embodiment 5.
Fig. 24 is a diagram showing an example of a correspondence table used in the HUB of embodiment 5 and associating MAC addresses with CAN-IDs.
Fig. 25 is a flowchart showing an example of the operation of the HUB according to embodiment 5.
Fig. 26 is a diagram showing a modification example of the structure of the payload of the E message.
Fig. 27 is a diagram showing an example of a correspondence table in which the CAN-ID is associated with the position of each individual data in the payload of the E message of the modification.
Fig. 28 is a diagram showing a schematic configuration of a vehicle-mounted network according to a modification.
Detailed Description
An Electronic Control Unit (ECU) according to one aspect of the present disclosure is connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in accordance with a 1 st communication protocol, the 2 nd network being a network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol, the ECU including: a generation unit which generates a 1 st frame in accordance with a 1 st communication protocol; and a transmitting unit that transmits the 1 st frame generated by the generating unit to the 1 st network, wherein the generating unit includes 1 st information and 2 nd information in the 1 st frame, and generates the 1 st frame, the 1 st information is a base of a 2 nd frame to be transmitted to the 2 nd network, and the 2 nd information indicates that the 1 st frame includes information to be transmitted to the 2 nd network. Thus, an ECU (e.g., E-ECU) connected to a 1 st network such as Ethernet (registered trademark) CAN appropriately transmit information to an ECU (e.g., C-ECU) connected to a bus of a 2 nd network such as CAN via the 1 st network. Further, for the type 1 frame transmitted to the ECU (e.g., E-ECU), an appropriate path may be selected, for example, by a next HUB (HUB) and transferred to an ECU (e.g., C-ECU) connected to the bus of the 2 nd network. The HUB is, for example, a HUB used in a network system including a 1 st network and a 2 nd network, and includes: a receiving unit which receives a 1 st frame; a transfer destination selection unit that determines whether or not the 1 st frame received by the reception unit includes 1 st information that is a base of a 2 nd frame to be transmitted to a 2 nd network, and selects a port to which a frame based on the 1 st frame is to be transmitted based on a result of the determination; and a transmitting unit that transmits a frame based on the 1 st frame to a wired transmission path connected to the port selected by the transfer destination selecting unit with respect to the 1 st frame received by the receiving unit.
The electronic control unit may further include a receiving unit configured to receive external information from outside the electronic control unit, and the generating unit may generate a 1 st frame including the 1 st information generated based on the external information in the 1 st case and the 2 nd information, and generate a 1 st frame including information generated based on the external information in the 2 nd case and information opposite to the 2 nd information. Thus, the ECU can appropriately distinguish between the 1 st frame to be transmitted to the ECU connected to the 1 st network and the 1 st frame to be transmitted to the ECU connected to the 2 nd network by the HUB and the like. Therefore, in either case, the 1 st frame can be appropriately transmitted to the target ECU.
The 1 st communication protocol may be an Ethernet protocol, the 2 nd communication protocol may be a controller area network protocol, the 1 st frame may be an Ethernet frame including an Ethernet header and data as a payload, the 2 nd frame may be a data frame including a data field, the 1 st information may indicate contents of the data field, and the generating unit may cause the payload in the 1 st frame to include the 1 st information. Thus, for example, an E-ECU having only an Ethernet (registered trademark) interface CAN appropriately transmit information to a C-ECU connected to the CAN bus.
In the generation of the 1 st frame, the generation unit may arrange an identification flag in the 1 st frame, the identification flag identifying whether or not the 1 st frame includes information to be transmitted to the 2 nd network, and when the 1 st frame is generated while including the 1 st information, the generation unit may set the identification flag in the 1 st frame to a value indicating the 2 nd information. Thus, in the relay device such as a HUB that connects the 1 st network and the 2 nd network, the transfer destination (that is, the transmission destination of the frame based on the 1 st frame) can be appropriately selected based on the identification flag.
In addition, the generation unit may arrange the identification flag in the payload in the generation of the frame of type 1. This makes it possible to arrange the identification flag in the 1 st frame without affecting the header of the 1 st frame.
In addition, when the generation unit generates the 1 st frame including the 1 st information, the generation unit may include a specific value set to indicate the 2 nd information as a destination MAC address in the Ethernet header in the 1 st frame. This makes it possible to effectively use the Ethernet (registered trademark) header, and for example, to reduce the data amount of the payload.
The 2 nd frame may include an ID field, a DLC (data length code) and the data field, and the 1 st information may indicate values of the ID field, the DLC and the data field. Thus, the ECU CAN transmit the main information of the CAN message (i.e., the data frame of the CAN) through the type 1 frame. Therefore, if a relay device such as a HUB that transmits a CAN message based on the 1 st frame is assumed, it is possible to transmit an arbitrary CAN message to the C-ECU that is the information transmission destination.
The 1 st information may indicate values of the ID field, the DLC, and the data field of each of the plurality of 2 nd frames to be transmitted to the 2 nd network, and a value indicating the number of the plurality of 2 nd frames. This improves the transmission efficiency when transmitting information from the E-ECU to the C-ECU.
In addition, when the generation unit generates the 1 st frame including the 1 st information, the generation unit may indicate the 2 nd information by setting a value of a bit identifying whether or not the destination MAC address is a global MAC address in the Ethernet header in the 1 st frame to a value other than the global MAC address, and may include the 3 rd information indicating a part of the content of the 2 nd frame in the destination MAC address. This allows the destination MAC address of the header of the type 1 frame to include CAN-ID and the like, and thus CAN reduce the data amount of the payload.
A frame generation method according to an aspect of the present disclosure generates a frame to be transmitted by an electronic control unit connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in accordance with a 1 st communication protocol, and the 2 nd network being a network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol, the frame generation method including: the 1 st frame is generated in accordance with a 1 st communication protocol so that 1 st information and 2 nd information are included in the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to a 2 nd network, and the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network. Thus, the ECU (e.g., E-ECU) connected to the 1 st network can appropriately transmit information to the ECU (e.g., C-ECU) connected to the bus of the 2 nd network via the 1 st network.
A program according to an aspect of the present disclosure causes an electronic control unit including a microprocessor to execute predetermined information processing, the electronic control unit being connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in accordance with a 1 st communication protocol, and the 2 nd network being a network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol, the predetermined information processing including: a generation step of generating a 1 st frame in conformity with a 1 st communication protocol; and a transmission step of transmitting the 1 st frame generated in the generation step to the 1 st network, wherein the generation step includes the 1 st frame with 1 st information and 2 nd information, and the 1 st frame is generated, the 1 st information being a base of the 2 nd frame to be transmitted to the 2 nd network, and the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network. By installing and executing the program in an ECU having a processor connected to the 1 st network, the ECU can appropriately perform information transfer to an ECU (e.g., C-ECU) connected to the bus of the 2 nd network.
These general and specific aspects can be realized by a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, and can also be realized by any combination of a system, a method, an integrated circuit, a computer program, or a recording medium.
Hereinafter, an in-vehicle network system including an Electronic Control Unit (ECU) according to an embodiment will be described with reference to the drawings. The embodiments shown herein are all representative of one specific example of the disclosure. Therefore, the numerical values, the constituent elements, the arrangement and connection of the constituent elements, the steps (steps), the order of the steps, and the like shown in the following embodiments are merely examples, and do not limit the present disclosure. Among the components in the following embodiments, components not recited in the independent claims are optional additional components. The drawings are schematic and are not strictly illustrated.
(embodiment mode 1)
Hereinafter, as an embodiment of the present disclosure, a vehicle-mounted network system 10 including a plurality of electronic control units (E-ECUs) that transmit and receive Ethernet (registered trademark) frames (E messages) in compliance with the Ethernet (registered trademark) protocol will be described with reference to the drawings. The in-vehicle network system 10 further includes a plurality of electronic control units (C-ECUs) that perform transmission and reception of data frames (CAN messages) and the like on the bus in accordance with the CAN protocol.
[1.1 overall Structure of in-vehicle network System 10 ]
Fig. 1 shows an overall configuration of an in-vehicle network system 10 according to embodiment 1.
The in-vehicle network system 10 is a network communication system in a vehicle in which various devices such as a control device, a sensor, an actuator, and a user interface device are mounted. The in-vehicle network system 10 includes, as the in-vehicle network, a 1 st network (Ethernet (registered trademark) network) that performs transmission of an Ethernet (registered trademark) frame (E message) in compliance with an Ethernet (registered trademark) protocol and a 2 nd network (CAN network) that performs transmission of a data frame (CAN message) and the like on a bus in compliance with a CAN protocol.
As shown in fig. 1, the in-vehicle network system 10 includes a HUB (HUB)100, electronic control units (E-ECUs) 200a to 200C, a CAN gateway 400, electronic control units (C-ECUs) 500a to 500d, various devices (a communication module 300a, a rear camera 300b, a radar 300C, an engine 600a, a brake 600b, a door opening/closing sensor 600C, and a window opening/closing sensor 600d) connected to the electronic control units (E-ECUs, C-ECUs), cables (Ethernet (registered trademark) cables) 20a to 20C, and buses (CAN buses) 30a to 30C. Ethernet (registered trademark) cables 20a to 20c are transmission paths of the 1 st network, and buses 30a to 30c are transmission paths of the 2 nd network.
In addition, in addition to E-ECUs 200 a-200C and C-ECUs 500 a-500 d, on-board network system 10 may include several ECUs. For example, a C-ECU (not shown) may be connected to buses 30a to 30C in addition to C-ECUs 500a to 500 d.
The ECUs (E-ECU and C-ECU) are devices such as digital circuits including processors (microprocessors), memories, and the like, analog circuits, communication circuits, and the like. The memory is a ROM, a RAM, or the like, and can store a program (a computer program as software) executed by the processor. As the memory, a nonvolatile memory may be included. For example, the processor operates in accordance with a program (computer program), whereby the ECU realizes various functions. The computer program is configured by combining a plurality of command codes indicating instructions for the processor to achieve a predetermined function.
The C-ECUs 500a to 500d transmit and receive frames in accordance with the CAN protocol. C-ECUs 500a to 500d are connected to devices such as engine 600a, brake 600b, door opening/closing sensor 600C, and window opening/closing sensor 600d, respectively, acquire the states of the devices, and periodically transmit data frames indicating the states to, for example, the 2 nd network constituted by bus 30a, bus 30b, and the like. The C-ECUs 500a to 500d CAN receive a data frame from a bus constituting the 2 nd network, interpret the data frame, determine whether or not the data frame has a CAN-ID to be received, control devices connected to the C-ECUs in accordance with data (contents of data fields) in the data frame as necessary, generate the data frame as necessary, and transmit the data frame.
The CAN gateway 400 is a kind of ECU as a gateway (a relay device or the like) connected to the buses 30a to 30 c. The CAN gateway 400 has a function of forwarding a data frame received from one bus to another bus.
The E-ECUs 200a to 200c have Ethernet (registered trademark) interfaces and are connected to Ethernet (registered trademark) cables. The E-ECUs 200a to 200c transmit or receive an Ethernet (registered trademark) frame (E message) in compliance with the Ethernet (registered trademark) protocol. The E-ECUs 200a to 200c are connected to devices such as the communication module 300a, the rear camera 300b, and the radar 300c, respectively, and can perform processing based on information acquired from the devices, control the devices as necessary, and transmit information to other ECUs as necessary. The communication module 300a is a device having a function of communicating with the server 90 outside the vehicle via an external network 91 such as the internet. The server 90 is, for example, a computer having a function of providing information to the ECU of the vehicle.
The HUB100 is an Ethernet (registered trademark) switch (switching HUB) connected to the E-ECUs 200a to 200 c. The HUB100 is also connected to the bus 30c, and has a function of transferring a frame (message) between the 1 st network and the 2 nd network. The HUB100 includes, for example, a digital circuit such as a memory, an analog circuit, a communication circuit, and the like, and may include a processor.
[1.2 Structure of vehicle-mounted network ]
Fig. 2 shows a schematic configuration of the in-vehicle network according to the present embodiment.
In the in-vehicle network system 10, the E-ECUs 200a to 200c can communicate with each other via the 1 st network constituted by connecting cables by the HUB 100. Further, C-ECUs 500a to 500d CAN communicate with each other via the 2 nd network constituted by buses 30a, 30b, CAN gateway 400, and the like. In addition, for example, E-ECU 200a may communicate with C-ECU 500a via cable 20a, HUB100, bus 30C, CAN gateway 400, and bus 30 a.
The HUB100 has a plurality of ports for connection with the E-ECU (i.e., terminals to which Ethernet (registered trademark) cables are connected). In addition, the HUB100 has 1 port (CAN port) for connection with the bus 30c connected to the CAN gateway 400.
[1.3 Structure of Transmit-receive frame in vehicle network ]
Fig. 3 shows a format of a frame (E message) transceived in the 1 st network. As shown in the figure, the E message is configured by adding a header (Ethernet (registered trademark) header) to the payload of the data as the main transmission content. The header contains the destination MAC address, the transmission source MAC address and the type.
The E-ECU in the in-vehicle network system 10 transmits an E message containing CAN message information when transmitting information that should be transmitted to the C-ECU. The CAN message information is information that forms the basis of a data frame (CAN message) transmitted on the CAN bus.
Fig. 4 and 5 show examples of data structures within the payload of the E-message shown in fig. 3. Fig. 4 shows an example in which only 1 CAN message information is contained in the payload of the E message. Fig. 5 shows an example of a case where a plurality of pieces of CAN message information CAN be included in the payload of the E message.
In the examples of fig. 4 and 5, the CAN message information is composed of CAN-ID, size (size), and data. The number of messages in fig. 5 shows the number of CAN message information. Instead of the number of messages, information indicating the entire data amount of the CAN message information may be used. The CAN flag is an identification flag for identifying whether or not the E message contains information to be transmitted to the 2 nd network, and is a flag as follows: when the payload of the E message includes CAN message information (that is, when the ECU to which the E message is addressed is a C-ECU), the message is turned ON, and otherwise, the message is turned OFF (that is, a value indicating information opposite to ON). In the examples of fig. 4 and 5, an example is shown in which the CAN flag is arranged at the beginning of the payload of the E message, but this is merely an example. In the present embodiment, a case will be mainly described where a plurality of CAN message information as shown in fig. 5 CAN be included in the payload of the E message. This can improve transmission efficiency, for example.
Furthermore, the E-ECU need not include CAN message information in the content of the payload of the E-message in the case of sending information that should be communicated to the E-ECU but need not be communicated to the C-ECU. In this case, the E-ECU turns OFF the CAN flag (see fig. 4 and 5) in the payload of the E message that is not required to be transmitted to the C-ECU, for example, when it CAN be discriminated only by the CAN flag whether the destination of the E message is the C-ECU.
In the 2 nd network, the C-ECUs 500a to 500d and the like transmit and receive frames in accordance with the CAN protocol. The frames under the CAN protocol include data frames, remote frames, overload frames, and error frames, but the description is mainly focused on the data frames.
Fig. 6 shows the format of a data frame (CAN message) transceived in the 2 nd network. As shown in the figure, the data Frame is composed Of SOF (Start Of Frame), ID (CAN-ID), RTR (Remote Transmission Request), ide (identifier extension), reserved bit "r", size, data, CRC (Cyclic Redundancy Check) sequence, CRC separator "DEL", ACK (Acknowledgement) slot (slot), ACK separator "DEL", and EOF (End Of Frame: End). Here, the ID (CAN-ID) as the content of the ID field is an identifier indicating the type of data, and is also referred to as a message ID. In the CAN, when a plurality of nodes start transmitting at the same time, communication arbitration is performed to give priority to a frame having a value with a small CAN-ID. The size is DLC (Data Length Code: Data Length Code) indicating the Length of the subsequent Data field (Data). The standard of the data is set in the in-vehicle network system 10 without being specified in the CAN protocol. Therefore, the standard depends on the type of vehicle, the manufacturer (manufacturer), and the like.
[1.4 Structure of E-ECU ]
FIG. 7 is a structural diagram of the E-ECU 200 a. E-ECU 200a includes a reception unit 210, a generation unit 220, and a transmission unit 230. Each of these components is realized by a communication circuit in E-ECU 200a, a processor or a digital circuit that executes a program stored in a memory, or the like.
The reception unit 210 receives external information, i.e., information from the outside of the E-ECU 200 a. The reception unit 210 includes an E reception unit 211 and a data reception unit 212. The E receiving section 211 receives a frame (E message) via the cable 20 a. The data receiving section 212 receives data from the connected device (communication module 300 a).
The generation unit 220 generates an E message in accordance with the Ethernet (registered trademark) protocol. The generation unit 220 includes a data processing unit 221, a transmission destination determination unit 222, a message construction unit 223, and a CAN message construction unit 224.
The data processing unit 221 performs information processing (calculation, etc.) based on external information (data or E-message) received by one or both of the E-receiver 211 and the data receiver 212, and generates various information to be transmitted to other ECUs. The data processing unit 221 may use the external information itself as the generated various information. The information processing performed by the data processing section 221 may be any content, and the data processing section 221 may generate any information. The various information generated by the data processing unit 221 is, for example, information for vehicle travel control, information for presenting to a vehicle user, and the like, and is classified into a plurality of categories (data types) such as a steering indication angle, a speed indication value, a current speed value, communication information, and the like.
The destination determination unit 222 determines the destination using, for example, a destination table according to the data type of the information generated by the data processing unit 221. Fig. 8 shows an example of a destination table used by the destination determining unit 222. The destination table illustrated in the figure is a table in which a transmission destination type indicating whether the ECU to be the information destination is the E-ECU or the C-ECU is associated with a destination MAC address (or CAN-ID) for each data type of the information. When determining that the transmission destination of the information generated by the data processing unit 221 is the C-ECU, the transmission destination determining unit 222 specifies the CAN-ID based on the destination table and notifies the CAN message constructing unit 224 of the CAN-ID. The destination determining unit 222 also determines a destination MAC address to be a destination of the information generated by the data processing unit 221 using the destination table, and notifies the message constructing unit 223 of the determined destination MAC address. Further, if the transmission destinations are a plurality of E-ECUs, the transmission destination determining section 222 notifies the message constructing section 223 of the destination MAC address for each transmission destination. When determining that the destination is the C-ECU, the destination determination unit 222 notifies the message construction unit 224 of a predetermined specific address as a destination MAC address. Examples of the specific address include a broadcast address, a multicast address, and a MAC address of a device having a protocol conversion function (conversion device). The HUB100 does not need to have a MAC address, but may have a MAC address, and the specific address may be the MAC address in the case where the HUB100 has a MAC address.
The CAN message construction unit 224 generates CAN message information indicating the notified CAN-ID, data indicating the information generated by the data processing unit 221, and the size of the data. For example, when the data indicating the information generated by the data processing unit 221 exceeds the maximum data length of the CAN message, the CAN message constructing unit 224 divides the data indicating the information to generate a plurality of CAN message information. The CAN message information generated by the CAN message constructing unit 224 is arranged in the E message by the message constructing unit 223, and the E message is transmitted by the transmitting unit 230. The CAN message information generated by the CAN message construction unit 224 includes at least information indicating data of the CAN message (content of the data field of the data frame), and other contents and forms are arbitrary, but it is useful to construct the CAN message information so as to include the CAN-ID, size, and data shown in fig. 6, for example, in a bit length conforming to the CAN protocol. In addition, in order to enable efficient conversion into a CAN message by a device such as the HUB100 while an E message including CAN message information to be transmitted to the C-ECU is being transmitted, it is useful for the CAN message construction unit 224 to construct CAN message information so as to conform to a CAN message format, for example, in accordance with the CAN protocol.
The message constructing unit 223 constructs an E message by including the destination MAC address and the MAC address of the E-ECU 200a as the source MAC address in the header for each destination MAC address notified to the destination determining unit 222 (see fig. 3). The message construction unit 223 includes, for example, in the payload of the E message: the CAN flag is turned ON if the destination is the C-ECU, the number of CAN message information constructed by the CAN message construction unit 224, and the respective CAN message information (see fig. 5). The message construction unit 223 includes, for example, in the payload of the E message: a CAN flag which is turned OFF if the transmission destination is an E-ECU, and data indicating information generated by the data processing unit 221. In addition, in the message construction unit 223, when there are a plurality of pieces of information generated by the data processing unit 221, a plurality of pieces of CAN message information, which may have different CAN-IDs and are generated by the CAN message construction unit 224, may be concatenated and arranged in the payload of the E message.
As described above, the generation unit 220 generates an E message in which CAN message information and a CAN flag that is ON are stored in a payload when it is necessary to transmit CAN message information to the C-ECU based ON external information (data or E message) received by one or both of the E reception unit 211 and the data reception unit 212. The CAN flag turned ON is used as the 2 nd message, and the 2 nd message indicates that the E message includes the 1 st message (CAN message information that is a base of the CAN message) to be transmitted to the 2 nd network. Further, the generation unit 220 generates an E message including information to be transmitted and not including, for example, the 2 nd information (that is, the CAN flag is OFF) when it is necessary to transmit information to the E-ECU based on the external information.
The transmission section 230 transmits the E message generated by the generation section 220 to the cable 20a, thereby transmitting to the 1 st network.
The E-ECUs 200b and 200c also have the same configuration as the E-ECU 200a described above.
[1.5 Structure of HUB100 ]
Fig. 9 is a structural diagram of the HUB 100. The HUB100 has ports 1-4. The ports 1 to 3 are connected to cables 20a to 20c constituting the 1 st network, respectively. Port 4 is a CAN port connected to a bus 30c (i.e., a wired transmission path connected to the CAN gateway 400) constituting the 2 nd network. As shown in fig. 9, the HUB100 includes a receiving unit 110, a transfer destination selecting unit 120, and a transmitting unit 130. Each of these components is realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory), and the like in the HUB 100.
The receiver 110 includes an E receiver 111 for receiving an E message from the ports 1 to 3 and a C receiver 112 for receiving a CAN message from the port 4.
The transfer destination selection unit 120 determines whether or not the E message received by the reception unit 110 includes the 1 st information (CAN message information) which is a basis of a CAN message (data frame) to be transmitted to the 2 nd network, and selects a port to which a frame based on the E message is transmitted based on the determination result. That is, when the E message received by the receiver 110 does not include CAN message information, the transfer destination selector 120 selects any one of the ports 1 to 3 as the transmission destination of the E message having the same content as the E message based on the destination MAC address of the header of the E message. The transfer destination selecting unit 120 refers to the MAC address table to select a port. Fig. 10 shows an example of the MAC address table used by the transfer destination selection unit 120. The HUB100, which is a switch (switching HUB), learns the MAC address by receiving E messages from the ports 1 to 3, respectively, thereby generating and updating a MAC address table. In the MAC address table, the specific address may be set as a destination MAC address of the port 4(CAN port), for example. In addition, when it is possible to determine whether or not the E message includes CAN message information from the CAN flag placed in the payload, the MAC address table may not include information of port 4(CAN port). When the E message received by the receiver 110 includes CAN message information, the transfer destination selector 120 may perform the determination based on the destination MAC address of the E message or based on the CAN flag in the E message, but selects the port 4(CAN port) as the transmission destination of the CAN message (data frame) configured to indicate the CAN message information.
The transmission unit 130 includes an E transmission unit 131, a C transmission unit 132, a coupling unit 133, and a dividing unit 134. The E transmitter 131 has a function of transmitting an E message from the ports 1 to 3, and the C transmitter 132 has a function of transmitting a CAN message from the port 4 in accordance with the CAN protocol. The coupling portion 133 has, for example, the following functions: information on the plurality of CAN messages received by the C reception unit 112 is concatenated to generate an E message for transmission, and the E message is transmitted to the E transmission unit 131. The divider 134 has the following functions: when the payload of the E message received by the E receiving unit 111 includes a plurality of concatenated CAN message information and the like (see fig. 5), the message is divided into the number of CAN message information indicated by the number of messages in fig. 5, and CAN messages conforming to the CAN protocol are generated based on the CAN message information and are sequentially transmitted to the C transmitting unit 132. The order of delivery in this case, that is, the order of transmission of the CAN messages transmitted by the C transmission unit 132 is, for example, the order of arrangement of the CAN message information in the payload of the E message serving as the basis thereof. With these configurations, the transmitter 130 transmits a frame based on the received E message (i.e., the E message when the ports 1 to 3 are selected and the CAN message when the port 4 is selected) to the wired transmission path (one of the cables 20a to 20c and the bus 30 c) connected to the port selected by the transfer destination selector 120 with respect to the E message received by the receiver 110. That is, the transmitting unit 130 transmits an E message having at least the same payload content as the E message to the cable connected to the selected port when the ports selected by the transfer destination selecting unit 120 for the E message received by the receiving unit 110 are ports 1 to 3, and transmits a CAN message including the 1 st information (CAN message information) in the E message received by the receiving unit 110 to the bus 30c when the port selected by the transfer destination selecting unit 120 for the E message received by the receiving unit 110 is port 4(CAN port) connected to the bus 30 c. Specifically, the transmission unit 130 adds the ID (i.e., the value of the ID field) of the 1 st information (CAN message information) in the E message received by the HUB100 to the ID field of the CAN message, adds the size indicated by the 1 st information (i.e., the value of the DLC) to the DLC of the CAN message, adds the data indicated by the 1 st information (i.e., the value of the data field) to the data field of the CAN message, and transmits the generated CAN message to the bus 30c, thereby transmitting the CAN message to the bus 30 c. When the E message received by the HUB100 includes the 1 st message including a plurality of CAN message messages in the payload, the transmission unit 130 sequentially transmits the plurality of CAN messages to the bus 30c by including different parts (CAN message information) of the 1 st message in the E message received by the HUB100 in each of the plurality of CAN messages, and thereby transmits the CAN messages to the bus 30 c.
Furthermore, the HUB100 may also have the following functions: based on the CAN message received by the C receiving unit 112, an E message is generated and transmitted from any one of the ports 1 to 3.
[1.6E-ECU operation ]
Fig. 11 is a flowchart showing an E-ECU process as an example of the operation of the E-ECU of the present embodiment. The following describes the E-ECU process executed by the E-ECU 200a with reference to FIG. 11.
The E-ECU 200a receives external information (E-message from other E-ECUs, data from the communication module 300a, etc.) through the reception section 210 (step S1).
Next, the E-ECU 200a performs data processing (generates various information to be transmitted to other ECUs, etc.) by the data processing unit 221 based on the received external information (step S2).
Further, in the E-ECU 200a, the destination determining unit 222 determines, for each piece of information generated by the data processing unit 221, whether or not the destination of the information is a C-ECU using the destination table according to the data type of the information (step S3). When it is determined that the information is to be sent to the C-ECU, the E-ECU 200a specifies the CAN-ID based on the data type of the information, and generates CAN message information indicating the CAN-ID, data indicating the information generated by the data processing unit 221, and the size of the data by the CAN message constructing unit 224 (step S4). As described above, when the data indicating the information generated by the data processing unit 221 exceeds the maximum data length of the CAN message, the CAN message is divided into a plurality of pieces of CAN message information.
In addition, the E-ECU 200a determines whether it is necessary to transmit a plurality of CAN message information (step S5), and if this operation is necessary, combines (concatenates) the CAN message information generated in step S4 (step S6). In step S5, when a plurality of CAN message information is generated by dividing data indicating information generated by the data processing unit 221, or when a plurality of information is generated by the data processing unit 221, it is determined that a plurality of CAN messages need to be transmitted. If it is determined in step S5 that the plurality of CAN messages do not need to be transmitted, E-ECU 200a skips step S6.
If it is determined in step S3 that the destination is the C-ECU, the E-ECU 200a constructs an E message including the 1 CAN message information generated in step S4 or the plurality of CAN message information linked in step S6 in the payload by the message construction unit 223 (step S7). In step S7, when it is determined in step S3 that the destination is not the C-ECU, the E-ECU 200a constructs an E-message including data indicating the information generated by the data processing unit 221 in the payload by the message construction unit 223. For example, in step S7, E-ECU 200a generates an E-message in which CAN message information to be transmitted to the C-ECU and a CAN flag that is turned ON are stored in the payload, or generates an E-message in which information to be transmitted to the E-ECU and a CAN flag that is turned OFF are stored in the payload. Further, in the header of the E message whose transmission destination is not the C-ECU, a destination MAC address determined using the destination table according to the data type of the information to be transmitted is set. In addition, a destination MAC address indicating the specific address is set in the header of the E message addressed to the C-ECU.
Further, E-ECU 200a transmits the E message generated in step S7 to cable 20a via transmitter 230 (step S8). The E message sent by the E-ECU 200a will be received by the HUB 100.
The E-ECUs 200b and 200c may perform the same operation as the E-ECU 200 a.
[1.7 working of HUB100 ]
Fig. 12 is a flowchart showing HUB processing as an example of the operation of the HUB 100. The HUB process is a transfer process of the E message in the case where the E message is received. Here, the transfer of the E message is transmission of the same E message as the received E message or transmission of a CAN message based on the received E message. The HUB processing performed by the HUB100 will be described below with reference to fig. 12.
The HUB100 receives an E message from any one of the ports 1 to 3 (step S11).
Next, the HUB100 determines whether or not the CAN flag in the received E message is ON (step S12). If the CAN flag is ON, the received E message contains the 1 st message (CAN message information) that becomes the basis of the CAN message that should be transmitted to the 2 nd network, and if OFF, the E message does not contain the 1 st message.
If the CAN flag is OFF, the HUB100 uses the MAC address table to select a port corresponding to the E-ECU (destination MAC address) of the destination by the transfer destination selection unit 120 (step S13). Further, the HUB100 transmits the same E message as the received E message from the port selected in step S13 (step S14), and ends the processing corresponding to the received E message.
If it is determined in step S12 that the CAN flag is ON, the HUB100 determines whether or not a plurality of pieces of CAN message information are included in the received E message based ON the number of messages shown in fig. 5, for example (step S15), and if a plurality of pieces of CAN message information are included, divides the received E message into pieces of CAN message information (step S16).
The HUB100 generates a CAN message based on the CAN message information for each CAN message information divided in step S16 or for the CAN message information determined to include only one CAN message information in step S15 (step S17). When the CAN message information includes, for example, a CAN-ID, a size, and data (see fig. 5), the HUB100 generates a CAN message so as to include the CAN-ID, the size, and the data (see fig. 6). Furthermore, the HUB100 sequentially transmits the generated CAN messages from the port 4(CAN port) to the bus 30c, thereby transmitting the CAN messages to the CAN gateway 400 (step S18), and ends the processing corresponding to the received E message.
After transmitting the CAN message from HUB100 to bus 30c, CAN gateway 400 transfers the CAN message to, for example, both or one of bus 30a and bus 30b based on a predetermined transfer rule. As the transfer rule in the CAN gateway 400, for example, a rule or the like in which a transfer destination bus is defined for each CAN-ID is used.
[1.8 message Transmission sequence from E-ECU to C-ECU ]
Fig. 13 is a sequence diagram showing an example of message transmission in the in-vehicle network system 10. Hereinafter, information transmission from the ECU (E-ECU) connected to the 1 st network to the ECU (C-ECU) connected to the 2 nd network will be described with reference to the drawing.
As an E message indicating the CAN message, the E-ECU 200a transmits, for example, an E message containing 3 pieces of CAN message information containing CAN-IDs different from each other to the HUB100 via the cable 20a (step S101).
The HUB100 that has received the E message determines whether or not the E message indicates a CAN message based on the CAN flag or the like (step S102), and if the E message indicates a CAN message, divides the concatenated CAN message information included in the E message into 3 pieces of CAN message information as necessary (step S103).
Further, the HUB100 sequentially transmits 3 CAN messages to the bus 30c based on the CAN-ID, size, and data of the 3 CAN message information (steps S104 to S106). Thus, the CAN gateway 400 receives 3 CAN messages and transfers the CAN messages to the bus selected based on the transfer rule based on the CAN-ID in each of the received CAN messages (steps S107 to S109).
[1.9 Effect of embodiment 1 ]
In the in-vehicle network system 10 according to embodiment 1, when the E-ECU 200a desires to transmit information to the C-ECU, an E-message including CAN message information, a CAN flag, and the like is transmitted. Thus, the HUB100 CAN appropriately select the destination of the CAN message indicated by the E message. Further, according to the aspect in which the CAN flag is included in the E message to indicate whether or not the E message includes CAN message information, for example, even when the destination MAC address of the E message is a broadcast address, whether or not the CAN message should be transmitted to the CAN bus CAN be identified based on the E message.
In addition, the E-ECU 200a CAN include a plurality of CAN message information that is the basis of a plurality of CAN messages in the E message. This can improve the information transmission efficiency.
(embodiment mode 2)
An example in which the in-vehicle network configuration in the in-vehicle network system 10 shown in embodiment 1 is partially modified will be described below.
In the in-vehicle network system according to the present embodiment, a conversion device is provided between the HUB100 and the bus 30c in the in-vehicle network system 10 (see fig. 1) shown in embodiment 1, and the HUB100 is modified. In the in-vehicle network system according to the present embodiment, the same reference numerals as those in embodiment 1 are used for the same components as those in the configuration shown in embodiment 1, and the description thereof is omitted. Note that, the in-vehicle network system according to the present embodiment is the same as the in-vehicle network system 10 according to embodiment 1, except for the points not described in detail here.
[2.1 Structure of vehicle-mounted network ]
Fig. 14 shows a schematic configuration of the in-vehicle network according to the present embodiment. The in-vehicle network according to the present embodiment replaces HUB100 in the in-vehicle network (see fig. 2) shown in embodiment 1 with HUB100 a, and further includes conversion device 700 and cable 20 d.
The HUB100 a does not have a CAN port, and has a plurality of ports to which cables 20a to 20d as Ethernet (registered trademark) cables are connected. HUB100 a is connected to conversion device 700 via cable 20d, and conversion device 700 is connected to CAN gateway 400 via bus 30 c.
In the in-vehicle network system according to the present embodiment, the E-ECUs 200a to 200c can communicate with each other via the 1 st network configured by connecting cables to each other via the HUB100 a. Further, C-ECUs 500a to 500d CAN communicate with each other via the 2 nd network constituted by buses 30a, 30b, CAN gateway 400, and the like. In addition, for example, the E-ECU 200a may communicate with the C-ECU 500a via the cable 20a, the HUB100 a, the cable 20d, the conversion device 700, the bus 30C, the CAN gateway 400, and the bus 30 a.
[2.2 Structure of HUB100 a ]
Fig. 15 is a structural view of HUB100 a. The HUB100 a is obtained by partially modifying the HUB100 described in embodiment 1, and is the same as the HUB100 in terms of portions not specifically described here. HUB100 a has ports 1-3 and port A. The ports 1 to 3 and the port a are connected to cables 20a to 20d constituting the 1 st network, respectively. Port a is connected to a cable 20d connected to the switching device 700. As shown in fig. 15, the HUB100 a includes a receiving unit 110a, a transfer destination selecting unit 120a, and a transmitting unit 130a, and transfers the E message. These components are realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory), and the like in the HUB100 a.
The receiver 110a includes an E receiver 111 for receiving an E message from ports 1 to 3 or port A.
The transfer destination selecting unit 120a is obtained by partially modifying the transfer destination selecting unit 120 described in embodiment 1, and is the same as the transfer destination selecting unit 120 with respect to the parts not particularly described here. The transfer destination selection unit 120a determines whether or not the E message received by the reception unit 110a includes the 1 st information (CAN message information) which is the basis of the CAN message (data frame) to be transmitted to the 2 nd network, and selects a port from which the frame based on the E message is transmitted based on the determination result. That is, when the E message received by the receiver 110a does not include CAN message information, the transfer destination selection unit 120a selects any one of the ports 1 to 3 as the transmission destination of the E message having the same content as the E message based on the destination MAC address of the header of the E message. The transfer destination selection unit 120a refers to the MAC address table to select a port. In the MAC address table, as the destination MAC address of the port a, for example, the specific address shown in embodiment 1 may be set, or the MAC address of the conversion apparatus 700 may be set. Furthermore, HUB100 a may learn the MAC address of conversion device 700 and update the MAC address table. When the MAC address of the conversion device 700 is set as the destination MAC address of the port a of the MAC address table, for example, the E-ECU 200a or the like of the transmission source of the E message including the CAN message information may specify the MAC address of the conversion device 700 as the destination MAC address in the header of the E message. In this case, the transfer destination selection unit 120a may select a port according to the MAC address table without confirming whether the E message includes CAN message information. In addition, when it is possible to determine whether or not the E message includes CAN message information from the CAN flag placed in the payload, the MAC address table may not include the information of the port a. When the E message received by the receiver 110a contains CAN message information, the transfer destination selection unit 120a may perform the determination based on the destination MAC address of the E message or may perform the determination based on the CAN flag in the E message, but selects port a (a port connected to a device connected to the bus 30c via the cable 20 d) as the transmission destination of the E message identical to the received E message.
The transmitter 130a includes an E transmitter 131, and the E transmitter 131 transmits (i.e., transmits to a cable connected to a port) selected by the transfer destination selector 120a an E message (or an E message having at least the same payload content) identical to the E message received by the E receiver 111.
[2.3 Structure of conversion device 700 ]
Fig. 16 is a structural view of the conversion apparatus 700. The conversion device 700 is configured by, for example, a digital circuit such as a processor or a memory, an analog circuit, a communication circuit, and the like.
The conversion device 700 has a function of converting an E message into a CAN message, and includes a reception unit 710, a transfer destination determination unit 720, a division unit 730, and a CAN transmission unit 740 as functional components for realizing the function. These functional components are realized by a communication circuit in the conversion device 700, a processor that executes a program stored in a memory, and the like. Furthermore, the conversion device 700 may also have a function of converting a CAN message into an E message.
The receiving section 710 receives the E message from the cable 20 d.
The transfer destination determining unit 720 determines whether or not the E message received by the receiving unit 710 includes the 1 st information (CAN message information) which is the basis of the CAN message (data frame) to be transmitted to the 2 nd network, and determines whether or not the CAN message based on the E message should be transmitted to the bus 30c based on the result of the determination. For example, when the E message received by the reception unit 710 does not include CAN message information, the transfer destination determination unit 720 determines that the CAN message should not be sent to the bus 30c and discards the E message. When the E message received by the reception unit 710 includes CAN message information, the transfer destination determination unit 720 notifies the division unit 730 of the content of the payload of the E message.
The divider 730 has the following functions: when a plurality of CAN message information pieces linked to each other are included as the content of the payload of the notified E message (see fig. 5), the CAN message information pieces are divided into the number indicated by the number of messages in fig. 5, for example, and each CAN message conforming to the CAN protocol is generated based on each CAN message information piece and is sequentially transmitted to the CAN transmission unit 740. The transfer order in this case is, for example, in the order of arrangement of CAN message information in the payload of the E message. When 1 CAN message information is included as the content of the payload of the notified E message, the dividing unit 730 generates a CAN message conforming to the CAN protocol based on the CAN message information and transmits the CAN message to the CAN transmitting unit 740.
The CAN transmitter 740 sequentially transmits CAN messages to the bus 30c constituting the 2 nd network in the order of transmission to the divider 730, following the CAN protocol. The CAN message is thus forwarded to the appropriate bus by the CAN gateway 400 connected to bus 30C and received by the C-ECU.
[2.4 Effect of embodiment 2 ]
In the in-vehicle network system according to embodiment 2, when the E-ECU 200a desires to transmit information to the C-ECU, it transmits an E message including CAN message information, a CAN flag, and the like. Thus, the HUB100 a CAN appropriately select the transmission destination of the E message including the CAN message information. Further, according to the aspect in which the CAN flag is included in the E message to indicate whether or not the E message includes CAN message information, even when the destination MAC address of the E message is a broadcast address, for example, only the E message including CAN message information CAN be transmitted by the HUB100 a to the conversion device 700 having the conversion function to convert to CAN messages. Further, the converter 700 may be configured to include, for example: a receiving unit which is connected to both a 1 st network and a 2 nd network, and receives a 1 st frame from the 1 st network, wherein the 1 st network transmits the 1 st frame (for example, an Ethernet (registered trademark) frame) in conformity with a 1 st communication protocol (for example, an Ethernet (registered trademark) protocol), and the 2 nd network transmits a 2 nd frame (for example, a CAN message as a data frame) on a bus in conformity with a 2 nd communication protocol (for example, a CAN protocol) different from the 1 st communication protocol; and a transmitting unit configured to transmit a frame (for example, CAN message) based on the 1 st frame to the 2 nd network when the 1 st frame received by the receiving unit includes the 1 st information which is a base of the 2 nd frame to be transmitted to the 2 nd network.
(embodiment mode 3)
Another example in which the configuration of the in-vehicle network in the in-vehicle network system 10 shown in embodiment 1 is partially modified will be described below.
In the in-vehicle network system according to the present embodiment, the HUB100 in the in-vehicle network system 10 (see fig. 1) shown in embodiment 1 is made to include the function of the CAN gateway 400. In the in-vehicle network system according to the present embodiment, the same reference numerals as those in embodiment 1 are used for the same components as those in embodiment 1, and the description thereof is omitted. Note that, the in-vehicle network system according to the present embodiment is the same as the in-vehicle network system 10 according to embodiment 1, except for the points not described in detail here.
[3.1 Structure of vehicle-mounted network ]
Fig. 17 shows a schematic configuration of the in-vehicle network according to the present embodiment. The in-vehicle network according to the present embodiment omits the CAN gateway 400 and the bus 30c in the in-vehicle network (see fig. 2) shown in embodiment 1, and replaces the HUB100 with the HUB100 b including the same function as the CAN gateway 400.
The HUB100 b has a plurality of ports for connection with the E-ECU (i.e., terminals to which Ethernet (registered trademark) cables are connected). In addition, the HUB100 b has a plurality of ports (i.e., terminals connected to the bus) for connection to the bus to which one or more C-ECUs are connected. That is, HUB100 b has ports to which cables 20a to 20c and buses 30a and 30b are connected.
In the in-vehicle network system according to the present embodiment, the E-ECUs 200a to 200c can communicate with each other via the 1 st network configured by connecting cables with the HUB100 b. Further, C-ECUs 500a to 500d can communicate with each other via the 2 nd network constituted by buses 30a, 30 b. In addition, for example, the E-ECU 200a may communicate with the ECU 500a via the cable 20a, the HUB100 b, and the bus 30 a.
[3.2 Structure of HUB100 b ]
Fig. 18 is a structural diagram of HUB100 b. The HUB100 b has ports 1-5. The ports 1 to 3 are connected to cables 20a to 20c constituting the 1 st network, respectively. The port 4(CAN port 1) and the port 5(CAN port 2) are connected to buses 30a and 30b constituting the 2 nd network, respectively. The HUB100 b may have 3 or more CAN ports, but here, for convenience of explanation, an example having two CAN ports is shown. As shown in fig. 18, the HUB100 b includes a receiving unit 110, a transfer destination selecting unit 120b, and a transmitting unit 130. Each of these components is realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory), and the like in the HUB100 b.
The receiver 110 includes an E receiver 111 for receiving an E message from the ports 1 to 3 and a C receiver 112 for receiving a CAN message from the ports 4 and 5.
The transfer destination selection unit 120b determines whether or not the E message received by the reception unit 110 includes the 1 st information (CAN message information) which is a basis of a CAN message (data frame) to be transmitted to the 2 nd network, and selects a port to which a frame based on the E message is transmitted based on the determination result. That is, when the E message received by the receiver 110 does not include CAN message information, the transfer destination selector 120b selects any one of the ports 1 to 3 as the destination of the E message having the same content as the E message based on the destination MAC address of the header of the E message. The transfer destination selection unit 120b refers to the MAC address table and selects the ports 1 to 3.
When the CAN message information is included in the E message received by the receiver 110, the transfer destination selection unit 120b selects one of the ports 4 and 5 as a CAN message transmission destination based on the CAN message information, based on the destination table. When the CAN message is received by the receiving unit 110, the transfer destination selecting unit 120b selects either one of the ports 4 and 5 as a transfer destination of the CAN message according to the destination table. Fig. 19 shows an example of a destination table used by the HUB100 b. In the example of the figure, the destination table is a table in which the transmission source of the received frame, the CAN-ID in the case where the frame is a CAN message, and the destination of the frame are associated with each other. The transmission source of the received frame indicates the transmission source MAC address if the frame is an E message, and indicates the CAN port (CAN port 1 or CAN port 2) that received the frame if the frame is a CAN message. According to the example of fig. 19, when receiving an E message including CAN message information of CAN-ID "0 x 123" from an E-ECU having MAC address 1, the transfer destination selection unit 120b selects CAN port 2 as a CAN message transmission destination based on the CAN message information. When receiving an E message including CAN message information from the E-ECU having the MAC address 2, the transfer destination selection unit 120b selects both the CAN port 1 and the CAN port 2 as the CAN message transmission destination based on the CAN message information. When a CAN message of CAN-ID "0 x 345" or CAN-ID "0 x 456" is received from CAN port 1, the transfer destination selection unit 120b selects CAN port 2 as the transfer destination of the CAN message.
The transmission unit 130 includes an E transmission unit 131, a C transmission unit 132, a coupling unit 133, and a dividing unit 134. When one or both of the port 4(CAN port 1) and the port 5(CAN port 2) are selected by the transfer destination selection unit 120b, the C transmission unit 132 transmits a CAN message based on the CAN message information of the received E message or the received CAN message to the selected port.
The HUB100 b may have a function of generating an E message based on the CAN message received by the C receiver 112 and transmitting the E message from any one of the ports 1 to 3.
[3.3 Effect of embodiment 3 ]
In the in-vehicle network system 10 according to embodiment 3, when the E-ECU 200a desires to transmit information to the C-ECU, an E-message including CAN message information, a CAN flag, and the like is transmitted. Thus, the HUB100 b CAN appropriately select the destination of the CAN message indicated by the E message.
Further, since the HUB100 b according to embodiment 3 has a function of transferring CAN messages between CAN buses, the number of devices constituting the in-vehicle network CAN be reduced. Further, the reduction in the number of devices mounted in the vehicle brings about effects such as cost reduction and suppression of the failure occurrence rate. The HUB100 b selects a CAN bus to which CAN messages should be transmitted, based on the CAN-ID and the like included in the CAN message information. Thus, the E-ECU 200a CAN transmit the information by including the CAN-ID corresponding to the C-ECU that desires to transmit the information in the E message.
(embodiment mode 4)
An example in which the E-ECU (e.g., E-ECU 200a) and HUB100 in the in-vehicle network system 10 shown in embodiment 1 are partially modified will be described below. In embodiment 1, the following example is shown: in the case where the E-ECU 200a transmits an E message containing CAN message information, for example, as shown in fig. 5, a plurality of CAN message information may be contained in the E message. In contrast, in the present embodiment, when the E-ECU 200a includes CAN message information in the E-message, only 1 CAN message information is included in the payload of the E-message as shown in fig. 4. E-ECUs 200b and 200c are also the same as E-ECU 200 a.
In the in-vehicle network system according to the present embodiment, a HUB100 c (described later) obtained by partially deforming the HUB100 is used instead of the HUB100 in the in-vehicle network system 10 (see fig. 1) shown in embodiment 1. In the in-vehicle network system according to the present embodiment, the same reference numerals as those in embodiment 1 are used for the same components as those in embodiment 1, and the description thereof is omitted. Note that, the in-vehicle network system according to the present embodiment is the same as the in-vehicle network system 10 according to embodiment 1, except for the points not described in detail here.
[4.1 Structure of HUB100 c ]
Fig. 20 is a structural view of HUB100 c. The HUB100 c is obtained by replacing the transmitter 130b of the HUB100 shown in embodiment 1 with the transmitter 130 b. As shown in fig. 20, the HUB100 c includes a receiving unit 110, a transfer destination selecting unit 120, and a transmitting unit 130 b. These components are realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory), and the like in the HUB100 c.
The transmission unit 130b includes an E transmission unit 131 and a C transmission unit 132. The E transmitter 131 has a function of transmitting an E message from the ports 1 to 3, and the C transmitter 132 has a function of transmitting a CAN message from the port 4 in conformity with the CAN protocol. Specifically, for example, when the port selected by the transfer destination selecting unit 120 with respect to the E message received by the receiving unit 110 is port 4(CAN port), the C transmitting unit 132 generates a CAN message based on CAN message information included in the received E message, and transmits the CAN message from port 4 to the bus 30C.
The HUB 100C may also have a function of generating an E message based on the CAN message received by the C receiver 112 and transmitting the E message from any one of the ports 1 to 3.
[4.2E-ECU operation ]
Fig. 21 is a flowchart showing an E-ECU process as an example of the operation of the E-ECU of the present embodiment. The E-ECU process performed by the E-ECU 200a will be described below with reference to FIG. 21. Note that, in the E-ECU process according to the present embodiment, the same reference numerals as those in fig. 11 are assigned to fig. 21 for the same contents as those in the process steps (see fig. 11) described in embodiment 1, and the description thereof will be omitted as appropriate.
The E-ECU 200a receives the external information via the reception unit 210 (step S1), and generates various information to be transmitted to other ECUs via the data processing unit 221 (step S2). The E-ECU 200a determines, for each piece of information generated by the data processing unit 221, whether or not the destination of the information is a C-ECU using the destination table based on the data type of the information by the destination determining unit 222 (step S3), and if the destination is a C-ECU, determines the CAN-ID based on the data type of the information, and generates CAN message information indicating the CAN-ID, data indicating the information generated by the data processing unit 221, and the size of the data by the CAN message constructing unit 224 (step S4).
If it is determined in step S3 that the destination is the C-ECU, the E-ECU 200a constructs an E message including the 1 CAN message information generated in step S4 in the payload by the message construction unit 223 (step S7). In step S7, when it is determined in step S3 that the destination is not the C-ECU, the E-ECU 200a constructs an E-message including data indicating the information generated by the data processing unit 221 in the payload by the message construction unit 223.
Further, E-ECU 200a transmits the E message generated in step S7 to cable 20a via transmitter 230 (step S8). The E message sent by the E-ECU 200a will be received by the HUB100 c.
The E-ECUs 200b and 200c may perform the same operation as the E-ECU 200 a.
[4.3 working of HUB100 c ]
Fig. 22 is a flowchart showing HUB processing as an example of the operation of the HUB100 c. The HUB processing performed by the HUB100 c will be described below with reference to fig. 22. Note that, in the HUB processing of the present embodiment, the same steps as those in the processing steps (see fig. 12) described in embodiment 1 are denoted by the same reference numerals as those in fig. 12 in fig. 22, and the description thereof will be omitted as appropriate.
The HUB100 c receives an E message from any one of the ports 1 to 3 (step S11), and determines whether the E message includes CAN message information (step S12 a). This determination may be performed based ON whether or not the CAN flag is ON, for example, or may be performed based ON whether or not the destination MAC address of the header of the E message is the specific address shown in embodiment 1.
When it is determined in step S12a that the received E message does not include CAN message information, the HUB100 c selects a port corresponding to the E-ECU of the destination using the MAC address table by the transfer destination selection unit 120 (step S13), transmits the same E message as the received E message from the selected port (step S14), and ends the process corresponding to the received E message.
If it is determined in step S12a that the received E message includes CAN message information, the HUB100 c generates a CAN message based on the CAN message information included in the received E message (step S17). When the CAN message information includes, for example, a CAN-ID, a size, and data (see fig. 4), the HUB100 c generates a CAN message so as to include the CAN-ID, the size, and the data (see fig. 6). Furthermore, the HUB100 c transmits the generated CAN message from the port 4(CAN port) to the bus 30c, transmits the CAN message to the CAN gateway 400 (step S18), and ends the processing corresponding to the received E message. After transmitting the CAN message from HUB100 c to bus 30c, CAN gateway 400 transfers the CAN message to, for example, both or one of bus 30a and bus 30b based on a predetermined transfer rule.
[4.4 Effect of embodiment 4 ]
In the in-vehicle network system 10 according to embodiment 4, when the E-ECU 200a desires to transmit information to the C-ECU, an E-message including CAN message information, a CAN flag, and the like is transmitted. Thus, the HUB100 c CAN appropriately select the destination of the CAN message indicated by the E message. In addition, the E-ECU 200a does not bear processing such as content division of the payload of the received E message in the HUB100 c by including CAN message information for 1 CAN message in the E message.
(embodiment 5)
Next, a modified example of the E-ECU 200a and the HUB100 shown in embodiment 1 will be described.
In embodiment 1, when the destination determination unit 222 in the generation unit 220 of the E-ECU 200a determines that the ECU to be the information destination is the C-ECU from the destination table of fig. 8, it notifies the message construction unit 224 of a predetermined specific address as the destination MAC address. In embodiment 1, a broadcast address, a multicast address, and the like are exemplified as specific addresses, but in the present embodiment, an example in which a native MAC address is used is shown as the specific addresses. In the local MAC address, the value of a bit in the MAC address identifying whether it is a global MAC address is set to a value other than the global MAC address.
For example, the E-ECU 200a may use a destination table as shown in FIG. 23. In the destination table of fig. 23, a destination MAC address is associated with each data type, and the destination MAC address includes "02: aa: bb: cc: 01: 23 "," 02: aa: bb: cc: 02: 34 ", etc. In this example, the data type associated with the native MAC address is the information that should be sent to the C-ECU.
When generating an E message including the 1 st information (CAN message information), the generation unit 220 of the E-ECU 200a includes a specific value (specific address or the like) set to indicate the 2 nd information as the destination MAC address in the header of the E message, where the 2 nd information indicates that the E message includes the 1 st information to be transmitted to the 2 nd network. The specific value may be the specific address shown in embodiment 1, or may be the following data value (native MAC address): the value of a bit in the MAC address identifying whether it is a global MAC address is set to a value that is not a global MAC address. Further, the 3 rd information indicating a part of the CAN message such as CAN-ID by the data value (local MAC address) may be included to reduce the content of the CAN message information included in the payload of the E message. For example, the generation unit 220 may set a data value indicating the CAN-ID as the destination MAC address of the E message, and may set CAN message information including the size and data but not the CAN-ID in the payload.
The HUB100 may determine whether or not the received E message includes CAN message information based ON whether or not the CAN flag is ON, but based ON whether or not a specific value (e.g., a local MAC address) as described above is set in the destination MAC address of the header of the E message. Thus, it is possible to judge whether or not information to be transmitted to the 2 nd network is included in the payload by referring only to the header of the E message, and for example, when the payload of the E message is encrypted, the processing can be simplified (decoding and the like are omitted). In addition, the HUB100 may also determine the CAN-ID using the correspondence table shown in fig. 24 based on a specific value (e.g., a home MAC address or the like) set in the destination MAC address of the header of the E message. Fig. 24 shows a correspondence table associating MAC addresses and CAN-IDs.
Fig. 25 is a flowchart showing a HUB process as an example of the operation of the HUB100 according to the modification of the present embodiment. Hereinafter, HUB treatment by the modified HUB100 will be described with reference to the drawings. Note that, in the HUB processing of the present embodiment, the same reference numerals as those in fig. 12 are assigned to fig. 25 for the same contents as those in the processing procedure (see fig. 12) described in embodiment 1, and the description thereof is appropriately omitted. It is assumed that the generation unit 220 of the E-ECU 200a sets a data value (local MAC address) corresponding to the CAN-ID as the destination MAC address of the E-message, and sets 1 CAN message so that the payload contains the size and data and does not contain the CAN-ID.
The modified HUB100 receives an E message from any one of the ports 1 to 3 (step S11), determines whether the E message includes CAN message information, and determines whether the destination MAC address of the header is a specific value (step S12 b). This determination may be made based on, for example, whether the destination MAC address is the specific address or not, or may be made based only on the value of the bit identifying whether the destination MAC address is a global MAC address or not.
When the HUB100 of the modification determines in step S12b that the received E message does not include CAN message information (when it is determined that the destination MAC address of the header is not a specific value), the transfer destination selection unit 120 selects a port corresponding to the E-ECU of the destination using the MAC address table (step S13), transmits the same E message as the received E message from the selected port (step S14), and ends the processing corresponding to the received E message.
In the HUB100 of the modification, when it is determined in step S12b that the received E message includes CAN message information (when it is determined that the destination MAC address of the header is a specific value), the CAN-ID is obtained from the destination MAC address based on the correspondence table (see fig. 24) (step S21). Further, the method of finding the CAN-ID from the destination MAC address as a specific value may be any method. The method of obtaining the CAN-ID may be, for example, the following method in addition to the method using the correspondence table: in the E-ECU 200a of the transmission source of the E message, a specific value is set so that the CAN-ID is included in a part of the destination MAC address, and in the modified HUB100, the CAN-ID is selected based on the destination MAC address. Further, the following method is also possible: the E-ECU 200a transmits an E message in which a specific value as a result of a predetermined operation on the CAN-ID is set as a destination MAC address, and in the HUB100 of the modification, the CAN-ID is calculated from the destination MAC address by an operation in accordance with the predetermined operation.
Next, the modified HUB100 generates a CAN message based on the CAN-ID determined in step S21 and the size and data of CAN message information in the payload as the received E message (step S17 a). Further, the modified HUB100 transmits the generated CAN message from port 4(CAN port) to the bus 30c, transmits the CAN message to the CAN gateway 400 (step S18), and ends the processing corresponding to the received E message.
In this way, in the transmission unit 130 of the modified HUB100, the transmission of the CAN message including the 1 st information (CAN message information) in the E message received by the reception unit 110 to the bus 30c is performed by: the CAN-ID determined based on the value of the destination MAC address in the header in the E message is added to the ID field of the CAN message, the data (value of the data field) indicated by the CAN message information is added to the data field of the CAN message, and the generated CAN message is sent out to the bus 30 c.
(other embodiments)
As described above, embodiments 1 to 5 have been described as examples of the technique of the present disclosure. However, the technique of the present disclosure is not limited to this, and can be applied to an embodiment in which modifications, substitutions, additions, omissions, and the like are appropriately made. For example, the following modifications are also included in one embodiment of the present disclosure.
(1) In the above-described embodiment, the E-ECU 200a arranges the 1 st information (CAN message information) composed of the CAN flag and the CAN-ID, the size, and the data in the payload of the E message (see fig. 4 and 5), but may arrange the 1 st information (CAN message information) in the payload as shown in fig. 26, the 1 st information being a set of the CAN flag and the data (herein, also referred to as individual data) as the content of the data field in the CAN message. When the 1 st information is included in the payload, the CAN flag is turned ON, for example, and is used as the 2 nd information indicating that the 1 st information is included. In this case, the HUB100 may determine the content of each CAN message from the set of individual data in the payload of the received E message using the correspondence table illustrated in fig. 27, and transmit the CAN message. The example of fig. 27 shows that individual data of data (contents of data fields) of a CAN message, which becomes CAN-ID "0 x 123", is configured in a size of an amount of 2 bytes from the 2 nd byte of the payload of the E message. In addition, it is shown that individual data of data (contents of data field) of the CAN message which becomes CAN-ID "0 x 234" is configured in a size of an amount of 1 byte from 1 st byte of the payload of the E message. Specifically, in this case, the transmission unit 130 of the HUB100 transmits the CAN message to the bus 30c as follows: for each set of individual data included in the E message received by the HUB100, the CAN-ID determined based on the configuration in the payload of the individual data is added to the ID field of the CAN message, the value of the individual data is added to the data field of the CAN message, and the generated CAN message is sent out to the bus 30 c. Therefore, the E-ECU 200a can transmit the individual data to the C-ECU by arranging the individual data in the payload of the E message and transmitting the individual data in accordance with the same correspondence table as the HUB 100. Note that, in the correspondence table illustrated in fig. 27, a flag indicating whether or not each individual data is valid may be set, and the HUB100 may extract only valid individual data and transmit it. The E-ECU 200a may not have the same correspondence table as the HUB100, and may transmit the E message constituting the payload in the same format when transmitting information to the E-ECU and when transmitting information to the C-ECU. In this case, the correspondence table used by the HUB100 is set in advance as appropriate in accordance with the data structure of the E message sent by the E-ECU 200a to the C-ECU (see fig. 27).
(2) The in-vehicle network system 10 according to embodiment 1 may include one or more HUB100 a according to embodiment 2, in addition to the HUB 100. Fig. 28 shows an example of an in-vehicle network in which the HUB100 a is disposed between the E-ECU 200a and the HUB 100. In this in-vehicle network, the E message containing CAN message information transmitted by the E-ECU 200a reaches the HUB100 via the HUB100 a in the 1 st network. In this case, the HUB100 a treats the HUB100 in the same manner as the conversion device 700 shown in embodiment 2. Further, the HUB100 generates a CAN message based on CAN message information of the received E message, and transmits the CAN message to the CAN bus 30c constituting the 2 nd network. The CAN message thus reaches the C-ECU, for example, via the CAN gateway 400.
(3) In the above embodiment, the in-vehicle network system is shown, but each of the above-described ECUs (E-ECU and C-ECU), HUB, conversion device, and the like can be applied to various network communication systems such as robots, industrial equipment, and the like.
(4) In the above embodiment, the in-vehicle network includes the 1 st network and the 2 nd network, the 1 st network transmits the E message (Ethernet (registered trademark) frame) in conformity with the Ethernet (registered trademark) protocol, and the 2 nd network transmits the CAN message (data frame) on the CAN bus in conformity with the CAN protocol. The CAN protocol may also be a generalized protocol including CANOpen used in an embedded system in an automation system or a derivative protocol such as TTCAN (Time-Triggered CAN) and CANFD (CAN with Flexible Data Rate CAN). In addition, the data frame in the CAN protocol may be in an extended ID format in addition to the standard ID format. In the case of the extended ID format, 29 bits obtained by combining the basic ID and the extended ID of the ID field in the standard ID format may be used as the CAN-ID in the above-described embodiment. The Ethernet (registered trademark) frame may be, for example, a frame of version 2 of Ethernet (registered trademark), or may be a frame prescribed by IEEE 802.3. In addition, the Ethernet (registered trademark) protocol may employ a generalized protocol including derived protocols such as Ethernet (registered trademark) AVB (Audio Video Bridging) of IEEE802.1 or Ethernet (registered trademark) TSN (Time Sensitive Networking) of IEEE802.1, Ethernet (registered trademark)/IP (industrial protocol), Ethernet (registered trademark) (Ethernet (registered trademark) for Control Automation Technology), and the like. Further, the 1 st network may transmit the 1 st frame (e.g., an E message) in conformity with the 1 st communication protocol, and the 2 nd network may transmit the 2 nd frame (e.g., a CAN message) on the bus in conformity with the 2 nd communication protocol different from the 1 st communication protocol. In this case, the 1 st communication protocol is, for example, an Ethernet (registered trademark) protocol, but is not limited to the Ethernet (registered trademark) protocol, and may be, for example, a Broader protocol (browser relay protocol). The 2 nd communication protocol is, for example, a CAN protocol, but is not limited to the CAN protocol, and may be, for example, LIN (Local Interconnect Network), MOST (registered trademark) (Media Oriented Systems Transport), FlexRay (registered trademark), or the like. Furthermore, the Ethernet (registered trademark) shown in the above embodiments has a high communication speed with CAN. In this regard, the 1 st communication protocol may be various protocols that are faster in communication speed than the 2 nd communication protocol. In the above embodiment, the 1 st frame (e.g., E message) has an identification flag (e.g., CAN flag) in the payload of the 1 st frame, the identification flag being used to determine whether or not the 1 st information (e.g., CAN message information) that is the basis of the 2 nd frame (e.g., CAN message) to be transmitted to the 2 nd network is included, but the identification flag may be included in the header of the 1 st frame. For example, the E-ECU 200a may include the CAN flag in the header of the E message. Thus, it is possible to judge whether or not the payload includes information to be transmitted to the 2 nd network by referring only to the header of the E message, and for example, when the payload of the E message is encrypted, the processing can be simplified (decoding and the like are omitted). For example, a bit in the destination MAC address in the header of the E message that identifies whether it is a global MAC address may be used as the CAN flag. In addition, for example, a CAN flag may be set in a type field in the header of the E message. For example, the E-ECU 200a may include the CAN flag in both the header and the payload of the E message.
(5) In embodiment 3, the following example is shown: when the received E message includes CAN message information, the HUB100 b selects a CAN port to transmit a CAN message from the source MAC address included in the E message and the CAN-ID included in the CAN message information in the E message via the destination table (see fig. 19). Further, the CAN port to which the CAN message is to be transmitted may be selected from the transmission source MAC address and the destination MAC address in the E message, or may be selected from the destination MAC address and the CAN-ID. When the CAN message is received from the CAN port, the HUB100 b may select any one of the ports 1 to 5 as a transfer destination of the CAN message, based on the CAN port and the CAN-ID included in the CAN message. In this case, the HUB100 b transmits the content of the CAN message by including it in the E message if the ports 1 to 3 are selected.
(6) In the above embodiment, the example in which the E-ECU 200a has the function of transmitting the E message including the CAN message information and the function of transmitting the CAN message information not including the E message is shown, but the E-ECU 200a may not have the function of transmitting the E message not including the CAN message information.
(7) The HUB (HUB 100 and the like) shown in the above embodiments is a switch (switching HUB), but may not have the function of a switch. That is, the HUB does not distinguish the destination MAC address of the E message, and may transfer the E message to all ports to which Ethernet (registered trademark) cables are connected except the port when receiving the E message whose CAN flag is not ON from 1 port, for example. Thus, the HUB can reduce the memory size without holding a MAC address table, for example.
(8) In the above embodiment, the CAN message information included in the E message transmitted by the E-ECU is composed of the CAN-ID, the size, and the data, but the CAN message information may be composed of any element as long as it includes information that becomes the basis of generation of the CAN message. For example, the CAN message information may be composed of a group of elements (SOF, CAN-ID, RTR, IDE, r, size, data, … …, EOF shown in fig. 6) conforming to the format of the CAN message specified in ISO 11898-1. The E-ECU constructs CAN message information in the format of a CAN message and transmits the CAN message information by including the CAN message information in an E message, thereby reducing the processing load of the HUB or the conversion device when transmitting the CAN message to the CAN bus based on the E message. The CAN message information may be constituted by information indicating data (content of a data field) of the CAN message, for example.
(9) In the above-described embodiment, the HUB100 or the like transmits the CAN messages corresponding to the CAN message information in the order of arrangement of the plurality of CAN message information included in the payload of the received E message, but the order of transmission of the CAN messages is not limited to this. For example, when the HUB100 or the like receives an E message including a plurality of CAN message information, CAN messages may be transmitted in the order of CAN-IDs from small to large based on the CAN message information, or CAN messages may be transmitted in the following transmission order: the transmission order is based on a priority order set in advance for each CAN-ID. The HUB100 and the like may wait for the CAN message to be transmitted periodically until the next transmission timing periodically. When the HUB100 or the like sets the transmission order of the CAN messages, the E-ECU 200a or the like does not need to perform processing in consideration of the transmission order of the CAN messages when transmitting the E message including a plurality of CAN message information.
(10) The execution order of the steps of the various processes shown in the above embodiments (for example, the predetermined steps shown in fig. 11, 12, 21, 22, and 25) is not necessarily limited to the above-described order, and the execution order may be changed, a plurality of steps may be executed in parallel, or a part of the steps may be omitted without departing from the scope of the disclosure.
(11) The devices such as the ECU, HUB, and converter in the above embodiments may include other hardware components such as a hard disk device, a display, a keyboard, and a mouse. The program stored in the memory may be executed by the processor, or the functions of the apparatus may be implemented in software or may be implemented by dedicated hardware (digital circuit or the like). Further, the function sharing of each component in the apparatus may be changed.
(12) Some or all of the components constituting each device in the above embodiments may be constituted by 1 system LSI (Large Scale Integration). The system LSI is a super-multifunctional LSI manufactured by integrating a plurality of components on 1 chip, and specifically is a computer system including a microprocessor, a ROM, a RAM, and the like. The RAM has a computer program recorded therein. The microprocessor operates in accordance with the computer program, thereby causing the system LSI to achieve the function. Each part of the components constituting each of the devices may be independently integrated into a single chip, or may be partially or entirely included and integrated into a single chip. Here, although a system LSI is used, it is also called an IC, LSI, super LSI, or extra LSI depending on the degree of integration. The method of integration is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after LSI manufacturing or a reconfigurable processor that can reconfigure connection and setting of internal circuit blocks of the LSI may be used. Further, if an integrated circuit technology that replaces LSI appears by a progress in semiconductor technology or another derivative technology, it is needless to say that the functional blocks may be integrated using this technology. Biotechnology and the like may also be applied.
(13) Some or all of the components constituting each of the devices may be constituted by an IC card or a single module that can be attached to and detached from each of the devices. The IC card or the module is a computer system constituted by a microprocessor, ROM, RAM, and the like. The IC card or the module may contain the above-described ultra-multifunctional LSI. The microprocessor operates according to the computer program, whereby the IC card or the module achieves its function. The IC card or the module may have tamper resistance.
(14) As an embodiment of the present disclosure, for example, a frame generation method including all or a part of the processing steps shown in fig. 11, 21, and the like, or a transfer method including all or a part of the processing steps shown in fig. 12, 22, 25, and the like may be used. For example, a frame generation method is a method of generating a frame to be transmitted by an ECU connected to a 1 st network in a network system including the 1 st network that performs transmission of a 1 st type frame in conformity with a 1 st communication protocol (for example, Ethernet (registered trademark) protocol) and a 2 nd network that performs transmission of a 2 nd type frame on a bus in conformity with a 2 nd communication protocol (for example, CAN protocol) different from the 1 st communication protocol, the frame generation method including: the 1 st frame is generated in accordance with a 1 st communication protocol so that 1 st information and 2 nd information are included in the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to a 2 nd network, and the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network. Further, for example, a transfer method used in a network hub in a network system including a 1 st network that transmits a 1 st frame in accordance with a 1 st communication protocol and a 2 nd network that transmits a 2 nd frame on a bus in accordance with a 2 nd communication protocol different from the 1 st communication protocol includes the steps of: a receiving step of receiving a 1 st frame; a transfer destination selection step of determining whether or not the 1 st frame received in the reception step includes 1 st information which is a base of a 2 nd frame to be transmitted to the 2 nd network, and selecting a port from which the 1 st frame is transmitted, based on a result of the determination; and a transmission step of transmitting a frame based on the 1 st frame to a wired transmission path connected to the port selected in the transfer destination selection step with respect to the 1 st frame received in the reception step. The present invention may be a program (computer program) for realizing the method by a computer, or a digital signal constituted by the computer program. For example, the program may be a program for executing predetermined information processing including: the frame generation method includes a generation step (step of generating a 1 st frame in accordance with a 1 st communication protocol) and a transmission step (step of transmitting the 1 st frame generated in the generation step to a 1 st network), wherein the generation step includes a 1 st frame and a 2 nd frame, and generates the 1 st frame, the 1 st frame being a base of a 2 nd frame to be transmitted to a 2 nd network, and the 2 nd frame indicating that the 1 st frame includes information to be transmitted to the 2 nd network. In addition, as an embodiment of the present disclosure, the computer program or the digital signal may be recorded on a computer-readable recording medium, such as a flexible disk, a hard disk, a CD-ROM, an MO, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark)) or a semiconductor memory. The digital signal recorded on the recording medium may be the digital signal. In addition, as an embodiment of the present disclosure, the computer program or the digital signal may be transmitted via an electronic communication line, a wireless or wired communication line, a network typified by the internet, data broadcasting, or the like. In addition, as one embodiment of the present disclosure, a computer system may be provided which includes a microprocessor and a memory, the memory recording the computer program, and the microprocessor operating according to the computer program. The program or the digital signal may be recorded in the recording medium and transferred, or the program or the digital signal may be transferred via the network or the like, and may be implemented by another independent computer system.
(15) An embodiment in which the respective components and functions shown in the above embodiment and the above modification are arbitrarily combined is also included in the scope of the present disclosure.
Industrial applicability
The ECU of the present disclosure CAN be applied to transmission of information to another ECU connected to a bus of a 2 nd network such as CAN via a 1 st network such as Ethernet (registered trademark).
Description of the reference symbols
10 vehicle network system
20 a-20 d cable
30 a-30 c bus (CAN bus)
90 server
91 external network
100. 100a, 100b, 100c network HUB (HUB)
110. 110a, 210, 710 receiving part
111. 211E receiver
112C receiving part
120. 120a, 120b transfer destination selection unit
130. 130a, 130b, 230, 740 transmitter
131E transmitting part
132C transmitting part
133 joint part
134. 730 division part
200 a-200 c electronic control unit (E-ECU)
212 data receiving part
220 generation part
221 data processing unit
222 destination determining unit
223 message construction part
224 CAN message construction part
300a communication module
300b rear camera
300c radar
400 CAN gateway
500 a-500 d electronic control unit (C-ECU)
600a engine
600b brake
600c door opening and closing sensor
600d window opening and closing sensor
700 switching device
720 transfer destination judgment unit

Claims (11)

1. An electronic control unit connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that transmits a 1 st frame in compliance with a 1 st communication protocol, the 2 nd network being a network that transmits a 2 nd frame on a bus in compliance with a 2 nd communication protocol different from the 1 st communication protocol, the electronic control unit comprising:
a generation unit which generates a 1 st frame in accordance with a 1 st communication protocol;
a transmission unit that transmits the 1 st frame generated by the generation unit to a 1 st network; and
a receiving part that receives external information from outside of the electronic control unit,
the generation unit includes 1 st information and 2 nd information in the 1 st frame, and performs the generation of the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to a 2 nd network, the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network,
the generation unit is configured to generate a signal for the display unit,
in case 1, a type 1 frame including the type 1 information generated based on the external information and including the type 2 information is generated,
in case 2, a type 1 frame including information generated based on the external information and including type 3 information indicating that the type 1 frame includes information not transmitted to the type 2 network is generated,
the external information is that the external information is,
information indicating a state of a device mounted on the in-vehicle network system received from another electronic control unit connected to the 1 st network or the 2 nd network, or
Information received from a communication module capable of communicating with a server via an external network, or
Information of a device connected with the electronic control unit.
2. The electronic control unit according to claim 1,
the 2 nd information and the 3 rd information are represented by an identification flag, which is set to ON in the case of the 2 nd information and is set to OFF in the case of the 3 rd information.
3. The electronic control unit according to claim 1,
the 1 st communication protocol is an Ethernet protocol,
the 2 nd communication protocol is a CAN protocol that is a controller area network protocol,
the frame of type 1 is an Ethernet frame containing an Ethernet header and data as a payload,
type 2 frames are data frames containing data fields,
the 1 st information represents the content of the data field,
the generation unit causes the payload in the 1 st frame to include the 1 st information.
4. The electronic control unit according to claim 3,
the generation unit is configured to generate a signal for the display unit,
configuring an identification flag in the 1 st frame in the generation of the 1 st frame, wherein the identification flag is used for identifying whether the 1 st frame contains information which should be transmitted to the 2 nd network or not,
when a 1 st frame is generated including the 1 st information, the identification flag in the 1 st frame is set to a value indicating the 2 nd information.
5. The electronic control unit according to claim 4,
the generation unit arranges the identification flag in the payload in the generation of the 1 st frame.
6. The electronic control unit according to claim 3,
when the generation unit generates a 1 st frame including the 1 st information, the generation unit includes a specific value set to indicate the 2 nd information as a destination MAC address in the Ethernet header in the 1 st frame.
7. The electronic control unit according to claim 3,
the frame of type 2 contains an ID field, a DLC i.e. data length code and said data field,
the 1 st information represents values of the ID field, the DLC, and the data field.
8. The electronic control unit according to claim 7,
the 1 st information indicates values of the ID field, the DLC, and the data field of each of a plurality of 2 nd frames to be transmitted to the 2 nd network, and a value indicating the number of the plurality of 2 nd frames.
9. The electronic control unit according to claim 3,
the generation unit, when generating a 1 st frame including the 1 st information, indicates the 2 nd information by setting a value of a bit identifying whether or not the destination MAC address is a global MAC address in the Ethernet header in the 1 st frame to a value other than the global MAC address, and causes the destination MAC address to include 4 th information indicating a part of the content of the 2 nd frame.
10. A frame generation method of generating a frame to be transmitted by an electronic control unit connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that performs transmission of a 1 st frame in compliance with a 1 st communication protocol, the 2 nd network being a network that performs transmission of a 2 nd frame on a bus in compliance with a 2 nd communication protocol different from the 1 st communication protocol, the frame generation method comprising:
generating the 1 st frame in accordance with a 1 st communication protocol so that 1 st information and 2 nd information are included in the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to a 2 nd network, the 2 nd information indicating a case where the 1 st frame includes information to be transmitted to the 2 nd network,
receiving external information from outside the electronic control unit,
in the step of generating the type 1 frame,
in case 1, a type 1 frame including the type 1 information generated based on the external information and including the type 2 information is generated,
in case 2, a type 1 frame including information generated based on the external information and including type 3 information indicating that the type 1 frame includes information not transmitted to the type 2 network is generated,
the external information is that the external information is,
information indicating a state of a device mounted on the in-vehicle network system received from another electronic control unit connected to the 1 st network or the 2 nd network, or
Information received from a communication module capable of communicating with a server via an external network, or
Information of a device connected with the electronic control unit.
11. A computer-readable recording medium storing a program for causing an electronic control unit including a microprocessor to execute predetermined information processing, the electronic control unit being connected to a 1 st network in a vehicle-mounted network system including the 1 st network and a 2 nd network, the 1 st network being a network that performs transmission of a 1 st frame in compliance with a 1 st communication protocol, the 2 nd network being a network that performs transmission of a 2 nd frame on a bus in compliance with a 2 nd communication protocol different from the 1 st communication protocol,
the predetermined information processing includes:
a generation step of generating a 1 st frame in conformity with a 1 st communication protocol;
a transmission step of transmitting the 1 st frame generated in the generation step to a 1 st network; and
a receiving step of receiving external information from outside of the electronic control unit,
in the generating step, the 1 st frame is generated by including 1 st information and 2 nd information in the 1 st frame, the 1 st information being a base of a 2 nd frame to be transmitted to a 2 nd network, the 2 nd information indicating that the 1 st frame includes information to be transmitted to the 2 nd network,
in the step of generating,
in case 1, a type 1 frame including the type 1 information generated based on the external information and including the type 2 information is generated,
in case 2, a type 1 frame including information generated based on the external information and including type 3 information indicating that the type 1 frame includes information not transmitted to the type 2 network is generated,
the external information is that the external information is,
information indicating a state of a device mounted on the in-vehicle network system received from another electronic control unit connected to the 1 st network or the 2 nd network, or
Information received from a communication module capable of communicating with a server via an external network, or
Information of a device connected with the electronic control unit.
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