CN115729202A - Control method and device for Electronic Control Unit (ECU) - Google Patents
Control method and device for Electronic Control Unit (ECU) Download PDFInfo
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- CN115729202A CN115729202A CN202111012587.4A CN202111012587A CN115729202A CN 115729202 A CN115729202 A CN 115729202A CN 202111012587 A CN202111012587 A CN 202111012587A CN 115729202 A CN115729202 A CN 115729202A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/02—Standardisation; Integration
- H04L41/0226—Mapping or translating multiple network management protocols
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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]
- H04L12/46—Interconnection of networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0659—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities
- H04L41/0661—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities by reconfiguring faulty entities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/34—Signalling channels for network management communication
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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]
- H04L12/40—Bus networks
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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]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
- H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
- H04L43/0817—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking functioning
Abstract
The invention relates to a control method of an Electronic Control Unit (ECU), which comprises the following steps: determining that a first on-board network channel of the electronic control unit ECU is abnormal; forwarding the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and communicating with other electronic control units of the vehicle via the second onboard network channel. The invention also relates to a control device of an electronic control unit, ECU, a computer storage medium, a computer program product, an electronic control unit and a vehicle.
Description
Technical Field
The present invention relates to the field of control of electronic control units, ECUs, and more particularly, to a method and apparatus for controlling an electronic control unit, an ECU, a computer storage medium, a computer program product, an electronic control unit, and a vehicle.
Background
In the event of a failure or abnormality, the electronic control unit ECU may lose communication over an onboard network such as CAN or ethernet. When communication is lost and no protocol data unit PDU is sent on the on-board network, it is difficult to check whether the communication is wrong or the whole software crashes on the vehicle.
Thus, in the prior art, in order to analyze and diagnose the cause of the failure, it is generally necessary to acquire the electronic control unit ECU from the vehicle and attempt to reproduce the problem. This results in failure to timely cope with a communication failure occurring in the electronic control unit ECU during the running of the vehicle, and more effort and time are spent.
Disclosure of Invention
According to an aspect of the present invention, there is provided a control method of an electronic control unit ECU, the method including: determining that a first on-board network channel of the electronic control unit ECU is abnormal; forwarding the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and communicating with other electronic control units of the vehicle via the second onboard network channel.
Additionally or alternatively to the above, in the method, the first on-board network channel is a CAN channel, and the second on-board network channel is an ethernet channel.
Additionally or alternatively to the above, the method further comprises: receiving a diagnostic command via the second on-board network channel; and returning error information to the diagnostic device through the second on-board network channel, the error information including a status of a communication module or an overall software status associated with the first on-board network.
Additionally or alternatively to the above, the method further comprises: restarting the communication module by a software reset upon determining that the communication module associated with the first onboard network is malfunctioning.
According to another aspect of the present invention, there is provided a control apparatus of an electronic control unit ECU, the apparatus including: determination means for determining that a first on-vehicle network channel of the electronic control unit ECU is abnormal; the forwarding device is used for forwarding the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and a communication device for communicating with the other electronic control unit of the host vehicle via the second on-board network channel.
Additionally or alternatively to the above, in the above device, the first on-board network channel is a CAN channel, and the second on-board network channel is an ethernet channel.
In addition or alternatively to the above, the apparatus further comprises: receiving means for receiving a diagnostic command via the second on-board network channel; and a feedback device for returning error information including a state of a communication module related to the first onboard network or an overall software state to the diagnostic device through the second onboard network channel.
In addition or alternatively to the above, the apparatus further comprises: and the restarting device is used for restarting the communication module through software reset when the communication module related to the first vehicle-mounted network is determined to be in fault.
According to yet another aspect of the invention, there is provided a computer storage medium comprising instructions which, when executed, perform the method as previously described.
According to yet another aspect of the invention, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method as described above.
According to a further aspect of the present invention, there is provided an electronic control unit comprising an apparatus as described above.
According to yet another aspect of the present invention, there is provided a vehicle including the electronic control unit as described above.
According to the control scheme of the electronic control unit ECU, two vehicle-mounted network channels (such as a CAN channel and an Ethernet channel) for communication of the electronic control unit are fully utilized, and when one of the two channels has a problem, a protocol data unit PDU is transferred to the other channel to be sent (on the basis of the support of the electronic and electrical architecture of the whole vehicle), so that the function of the ECU is ensured to be correctly executed. In addition, the control scheme of the electronic control unit ECU of the embodiment of the invention may also perform checking and recovery operations through the other channel in order to timely cope with a communication failure occurring in the electronic control unit ECU.
Drawings
The above and other objects and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which like or similar elements are designated by like reference numerals.
Fig. 1 shows a flow chart of a control method of an electronic control unit ECU according to an embodiment of the present invention; and
fig. 2 shows a schematic configuration diagram of a control apparatus of an electronic control unit ECU according to one embodiment of the present invention.
Detailed Description
Hereinafter, a control scheme of an electronic control unit ECU according to various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a schematic flow diagram of a control method 1000 of an electronic control unit ECU according to one embodiment of the invention. As shown in fig. 1, a control method 1000 of an electronic control unit ECU includes the steps of:
in step S110, it is determined that a first on-vehicle network channel of the electronic control unit ECU is abnormal;
in step S120, forwarding the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and
in step S130, communication is performed with the other electronic control unit of the host vehicle via the second vehicle-mounted network channel.
In the context of the present invention, "on-board network" also referred to as "in-vehicle network" means that the communication between the sensors, controls and actuators inside the vehicle is connected in a point-to-point connection manner to form a complex network structure. The in-vehicle network may include CAN (controller area network), LIN (local interconnect network), flexRay, MOST (multimedia oriented system transport), ethernet (Ethernet), etc.
In one embodiment, in step S110, determining that the first in-vehicle network channel of the electronic control unit ECU is abnormal may include: it is determined that communication is lost and no protocol data unit PDU is sent on the on-board network. The anomaly may be due to a communication error or a crash of software on the vehicle.
In the case that an abnormality occurs in the first vehicle-mounted network channel, in step S120, the protocol data unit PDU transmitted on the first vehicle-mounted network channel is forwarded to the second vehicle-mounted network channel. In one embodiment, forwarding protocol data units PDUs transmitted on the first in-vehicle network channel to the second in-vehicle network channel comprises: the method includes converting a PDU/message of a first communication protocol to a PDU/message of a second communication protocol for transmission over a second vehicular network channel, wherein the first vehicular network channel supports the first communication protocol and the second vehicular network channel supports the second communication protocol.
Next, in step S130, if the electronic/electrical architecture of the electronic control unit ECU supports transmission of the PDU transmitted on the original first vehicle-mounted network channel on the second vehicle-mounted network channel, the second vehicle-mounted network channel communicates with the other electronic control unit of the vehicle. In this way, it is ensured that information required by the functional layer (other electronic control units of the vehicle, for example, an electronic control unit at a higher level) is transmitted from the current electronic control unit ECU in time, and correct execution of the function is ensured.
In one embodiment, the first in-vehicle network channel is a CAN channel and the second in-vehicle network channel is an ethernet channel.
CAN is a short for Controller Area Network (Controller Area Network), and is a serial data communication protocol, and the communication rate CAN reach up to 1Mbps. Data communication of the CAN has no master-slave division, any node CAN initiate data communication to any other node(s), and the communication order is determined according to the information priority sequence of each node. When a plurality of nodes initiate communication simultaneously, the avoidance priority with low priority is high, and the communication line is not congested. Because of the highly reliable control method of CAN, it is widely used in a range of applications from vehicle navigation systems to engine control systems.
With the popularization of the application of the vehicle-mounted camera, a larger amount of information needs to be transmitted at a high speed, and vehicle-mounted Ethernet (Ethernet) is also produced. The vehicle-mounted Ethernet is based on the traditional industrial Ethernet technology, also uses the physical layer protocol of 100Base-TX, and is an interface capable of carrying out differential transmission corresponding to the rate of 100 Mbps. The vehicle-mounted Ethernet can achieve bidirectional transmission of 100 Mbps.
Although not shown in fig. 1, in one embodiment, the method 1000 further comprises: receiving a diagnostic command via the second on-board network channel; and returning error information to the diagnostic device through the second on-board network channel, the error information including a status of a communication module or an overall software status associated with the first on-board network. That is, in this embodiment, when the first onboard network fails (e.g., when there is no CAN communication), an attempt may be made to report an error code to the diagnostic device over the ethernet channel. Meanwhile, a diagnosis command of the diagnosis device may be transmitted to the electronic control unit ECU via a remote or nearby server to acquire the state of the communication module or the entire software state related to the first in-vehicle network.
The occurrence of the vehicle-mounted network channel abnormality may have many reasons, for example, a software failure occurs in the ECU, such as a transmission protocol or a software program is defective or conflicts, so that the vehicle-mounted network communication is disordered or cannot work.
In one embodiment, the method 1000 further comprises: restarting the communication module by a software reset upon determining that the communication module associated with the first onboard network is malfunctioning. That is, if a fault or problem occurs only on the CAN module, it CAN be considered to restore the CAN module by software reset. During this period, if the electronic and electrical architecture CAN support sending and receiving the CAN PDU over the ethernet, in the ECU (such as radar/driving assistance system/video ECU, etc.), PDU forwarding is performed based on the PDU routing module to ensure the information transfer requested by the functional layer.
In another embodiment, similar operations may be performed on the CAN channel to obtain error information or to restart the ethernet module in the absence of ethernet communication (i.e., an ethernet channel anomaly). But since the transmission capacity of CAN is rather low compared to ethernet, the related functionality relying on ethernet protocol data units PDU will be temporarily disabled during this time.
In addition, it is easily understood by those skilled in the art that one or more of the above-described embodiments of the present invention provide a control method of an electronic control unit ECU that can be implemented by a computer program. The computer program is for example included in a computer program product which, when being executed by a processor, implements a control method of an electronic control unit ECU according to one or more embodiments of the invention. For another example, when a computer storage medium (e.g., a usb disk) storing the computer program is connected to a computer, the computer program is executed to execute the control method of the electronic control unit ECU according to one or more embodiments of the present invention.
Referring to fig. 2, fig. 2 shows a schematic configuration diagram of a control apparatus 2000 for an electronic control unit ECU according to an embodiment of the present invention. As shown in fig. 2, a control apparatus 2000 for an electronic control unit ECU includes: a determination means 210, a forwarding means 220, and a communication means 230, wherein the determination means 210 is used for determining that a first on-board network channel of the electronic control unit ECU is abnormal; the forwarding device 220 is configured to forward the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and a communication device 230 for communicating with the other electronic control units of the host vehicle via the second on-board network channel.
In the context of the present invention, "on-board network" also referred to as "in-vehicle network" means that the communication between the sensors, controls and actuators inside the vehicle is connected in a point-to-point connection manner to form a complex network structure. The onboard network may include CAN (controller area network), LIN (local interconnect network), flexRay, MOST (multimedia oriented system transport), ethernet (Ethernet), etc.
In one embodiment, the determining means 210 is configured to determine that communication is lost and that no protocol data unit PDU is sent on the vehicular network. That is, the first onboard network channel abnormality may be caused by a communication error or a software crash on the vehicle.
In case of an abnormality of the first on-board network channel, the forwarding device 220 is configured to forward the protocol data unit PDU transmitted on the first on-board network channel to the second on-board network channel. In one embodiment, the forwarding device 220 includes: the protocol conversion unit is used for converting the PDU/message of the first communication protocol into the PDU/message of the second communication protocol so as to be convenient for transmission on the second vehicle-mounted network channel, wherein the first vehicle-mounted network channel supports the first communication protocol, and the second vehicle-mounted network channel supports the second communication protocol.
Subsequently, if the electronic and electrical architecture of the electronic control unit ECU supports the transmission of PDUs transmitted on the original first onboard network channel on the second onboard network channel, the communication means 230 is arranged to communicate with other electronic control units of the vehicle via the second onboard network channel. In this way, it is ensured that information required by the functional layer (other electronic control units of the vehicle, for example, an electronic control unit at a higher level) is transmitted from the current electronic control unit ECU in time, and correct execution of the function is ensured.
In one embodiment, the first on-board network channel is a CAN channel and the second on-board network channel is an ethernet channel.
CAN is a short name of Controller Area Network (Controller Area Network), is a serial data communication protocol, and has a communication rate up to 1Mbps. Data communication of the CAN has no master-slave division, any node CAN initiate data communication to any other node(s), and the communication order is determined according to the information priority sequence of each node. When a plurality of nodes initiate communication at the same time, the avoidance priority with low priority is high, and the communication line is not congested. Because of the highly reliable control method such as CAN, it is widely used in a range of applications from a car navigation system to an engine control system.
With the popularization of the application of the vehicle-mounted camera, a larger amount of information needs to be transmitted at a high speed, and vehicle-mounted Ethernet (Ethernet) is also produced. The vehicle-mounted Ethernet is based on the traditional industrial Ethernet technology, also uses the physical layer protocol of 100Base-TX, and is an interface capable of carrying out differential transmission corresponding to the rate of 100 Mbps. The vehicle-mounted Ethernet can achieve 100Mbps bidirectional transmission.
Although not shown in fig. 2, in one embodiment, the apparatus 2000 further comprises: receiving means for receiving a diagnostic command via the second on-board network channel; and a feedback device for returning error information to the diagnostic device through the second vehicle-mounted network channel, wherein the error information comprises the state of the communication module related to the first vehicle-mounted network or the state of the whole software. That is, in this embodiment, the control device 2000 for the electronic control unit ECU may attempt to report an error code to the diagnostic device through the ethernet channel when the first in-vehicle network malfunctions (for example, when there is no CAN communication). Meanwhile, a diagnosis command of the diagnosis means may be transmitted to the electronic control unit (the control device 2000 for the electronic control unit ECU) via a remote or nearby server, thereby acquiring the state of the communication module related to the first onboard network or the entire software state via the feedback means.
The occurrence of the vehicle-mounted network channel abnormality may have many reasons, for example, a software failure occurs in the ECU, such as a transmission protocol or a software program is defective or conflicts, so that the vehicle-mounted network communication is disordered or cannot work.
In one embodiment, the apparatus 2000 further comprises: and the restarting device is used for restarting the communication module through software reset when the communication module related to the first vehicle-mounted network is determined to be in fault. That is, if a fault or problem occurs only on the CAN module, it may be considered to restore the CAN module through software reset, so that a communication failure occurring in the ECU CAN be dealt with in time.
In one or more embodiments, the control apparatus 2000 for an electronic control unit ECU described above may be integrated within various types of electronic control unit ECUs (including, but not limited to, radar sensor/Dasy/video, etc.) of a vehicle.
In summary, the control scheme of the electronic control unit ECU according to the embodiment of the present invention fully utilizes two vehicle network channels (for example, a CAN channel and an ethernet channel) for communication of the electronic control unit, and when a problem occurs in one of the two channels, transfers the protocol data unit PDU to the other channel (based on the support of the electronic and electrical architecture of the entire vehicle) for transmission, thereby ensuring correct execution of the ECU function. In addition, the control scheme of the electronic control unit ECU of the embodiment of the invention may also perform checking and recovery operations through the other channel in order to timely cope with a communication failure occurring in the electronic control unit ECU.
Although the foregoing specification describes only some embodiments of the invention, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms without departing from the spirit or scope thereof. For example, the product carried by the technical solution of the present invention is not limited to the electronic control unit ECU, and those skilled in the art can understand that the technical solution can be implemented in other units with dual communication channels. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (12)
1. A control method of an electronic control unit ECU, characterized by comprising:
determining that a first on-board network channel of the electronic control unit ECU is abnormal;
forwarding the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and
and communicating with other electronic control units of the vehicle through the second vehicle-mounted network channel.
2. The method of claim 1, wherein the first in-vehicle network channel is a CAN channel and the second in-vehicle network channel is an ethernet channel.
3. The method of claim 1 or 2, further comprising:
receiving a diagnostic command via the second on-board network channel; and
and returning error information to the diagnosis device through the second vehicle-mounted network channel, wherein the error information comprises the state of the communication module related to the first vehicle-mounted network or the state of the whole software.
4. The method of claim 3, further comprising:
restarting the communication module through software reset upon determining that the communication module associated with the first onboard network is malfunctioning.
5. A control apparatus of an electronic control unit ECU, characterized by comprising:
determining means for determining that a first in-vehicle network passage of the electronic control unit ECU is abnormal;
the forwarding device is used for forwarding the protocol data unit PDU transmitted on the first vehicle-mounted network channel to a second vehicle-mounted network channel; and
and a communication device for communicating with the other electronic control unit of the host vehicle via the second on-board network channel.
6. The apparatus of claim 5, wherein the first on-board network channel is a CAN channel and the second on-board network channel is an Ethernet channel.
7. The apparatus of claim 5 or 6, further comprising:
receiving means for receiving a diagnostic command via the second on-board network channel; and
and the feedback device is used for returning error information to the diagnosis device through the second vehicle-mounted network channel, wherein the error information comprises the state of the communication module related to the first vehicle-mounted network or the state of the whole software.
8. The apparatus of claim 7, further comprising:
and the restarting device is used for restarting the communication module through software reset when the communication module related to the first vehicle-mounted network is determined to be in fault.
9. A computer storage medium, characterized in that the medium comprises instructions which, when executed, perform the method of any of claims 1 to 4.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the method according to any of claims 1 to 4 when executed by a processor.
11. An electronic control unit, characterized in that it comprises a device according to any one of claims 5 to 8.
12. A vehicle characterized in that it comprises an electronic control unit according to claim 11.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111012587.4A CN115729202A (en) | 2021-08-31 | 2021-08-31 | Control method and device for Electronic Control Unit (ECU) |
| PCT/EP2022/071939 WO2023030818A1 (en) | 2021-08-31 | 2022-08-04 | Control method and device for electronic control unit (ecu) |
| TW111132432A TW202315371A (en) | 2021-08-31 | 2022-08-29 | Control method and device for electronic control unit (ecu) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111012587.4A CN115729202A (en) | 2021-08-31 | 2021-08-31 | Control method and device for Electronic Control Unit (ECU) |
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| Publication Number | Publication Date |
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| CN115729202A true CN115729202A (en) | 2023-03-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111012587.4A Pending CN115729202A (en) | 2021-08-31 | 2021-08-31 | Control method and device for Electronic Control Unit (ECU) |
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| Country | Link |
|---|---|
| CN (1) | CN115729202A (en) |
| TW (1) | TW202315371A (en) |
| WO (1) | WO2023030818A1 (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6258997B2 (en) * | 2016-03-31 | 2018-01-10 | 本田技研工業株式会社 | Vehicle control system |
| CN112291194B (en) * | 2020-09-27 | 2022-12-13 | 上海赫千电子科技有限公司 | State management method and device based on ECU in vehicle-mounted network and intelligent automobile |
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2021
- 2021-08-31 CN CN202111012587.4A patent/CN115729202A/en active Pending
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2022
- 2022-08-04 WO PCT/EP2022/071939 patent/WO2023030818A1/en unknown
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| TW202315371A (en) | 2023-04-01 |
| WO2023030818A1 (en) | 2023-03-09 |
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