JP2006121498A - Network system and trouble diagnosing method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To eliminate the time difference between the instruction to a stop node and a notice to a non-stop node in a cooperation control node group in a network system, and a trouble diagnosing method of the network system. <P>SOLUTION: In the network system 10, a plurality of nodes 12 connected over a multiplex communication line 14 mutually control in coordination to constitute a cooperation control node group. For diagnosing a trouble in the cooperation control node group, the system 10 issues both an instruction for executing the operation stop or operation fix to be fed to a node 12 in the cooperation control node group, and a notice showing the operation stop or operation fix of the node 12 to be fed to all other nodes 12 in the cooperation control node group, using both as each. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a network system and a failure diagnosis method for a network system, and more particularly, a network system that forms a cooperative control node group in which a plurality of nodes connected via a network perform control in cooperation with each other, and the network system The present invention relates to a failure diagnosis method.

Conventionally, there has been known a network system in which cooperative control is performed in which a certain node performs specific control based on data transmitted from another node by transmitting and receiving data between a plurality of nodes connected to the network. (For example, refer to Patent Document 1). In this system, when an abnormality occurs in the communication system of the control system node, the control system node gradually changes the control amount toward a predetermined failsafe control amount.
Japanese Patent Laid-Open No. 4-3040999

  By the way, in the network system described above, the own node recognizes its own failure occurrence by judging whether or not it can receive or transmit itself, and recognizes the occurrence of a failure of its own node by notification from another node. However, since multiple nodes perform coordinated control, the data sent to the own node from nodes other than the own node may be abnormal. There is a possibility of erroneous determination that a failure has occurred even though no failure has occurred.

  Therefore, in order to identify the failure part in the network system described above, the operation of each of the nodes performing cooperative control is stopped or fixed one by one, and the operation of the remaining nodes is continued to observe the state of the system. It is possible to do. At this time, a command to that effect is given to a stop node whose operation is to be stopped or fixed, and a notification that the stop node is to be stopped or fixed is to be sent to the remaining nodes. Become. However, since each node is connected via a network, it is assumed that a command for executing the operation stop and the like and a notification to stop the operation of the stop node are separately issued and transmitted. Due to the time difference between the two transmissions, the cooperative control between the plurality of nodes may become unstable, or a situation in which an erroneous failure determination is performed may occur.

  The present invention has been made in view of the above-described points, and recognizes that a command to a stop node that performs operation stop or operation fixing in a cooperative control node group and that operation of the stop node is stopped or operation fixed is performed. It is an object of the present invention to provide a network system and a network system failure diagnosis method capable of eliminating a time difference from notification to a non-stop node.

  The above object is a network system comprising a cooperative control node group in which a plurality of nodes connected via a network perform control in a coordinated manner as claimed in claim 1, wherein the cooperative control node group includes: When diagnosing a failure, a command for stopping operation or fixing operation to be supplied to a predetermined node in the cooperative control node group and a supply to other nodes in the cooperative control node group This is achieved by a network system that also issues a notification that the operation of the predetermined node should be stopped or the operation is fixed.

  Further, the above object is a method for diagnosing a failure of a network system constituting a cooperative control node group in which a plurality of nodes connected via a network perform control in a coordinated manner. A command for executing operation stop or operation fixation to be supplied to a predetermined node in the cooperative control node group, and the predetermined value to be supplied to another node in the cooperative control node group. This is achieved by a failure diagnosis method for a network system for diagnosing a failure of the cooperative node group by issuing a notification that the operation of the node is stopped or the operation is fixed.

  In the present invention, at the time of failure diagnosis of a cooperative control node group in which a plurality of nodes connected via a network perform control in cooperation, an operation stop or operation to be supplied to a predetermined node in the cooperative control node group A command for executing fixing and a notification that operation of a predetermined node to be supplied to other nodes in the cooperative control node group is stopped or operation is fixed are issued together. In this case, if a command is given to the stop node in the cooperative control node group, the non-stop node is notified almost simultaneously, so that the time difference between the two is eliminated.

  In this case, as described in claim 2, in the network system according to claim 1, when the predetermined node receives the command, the predetermined cooperative control may be stopped or fixed in advance. .

  Further, as described in claim 3, in the network system according to claim 1, when the other node receives the notification, it recognizes that the cooperation from the predetermined node cannot be obtained. That's fine.

  Furthermore, as described in claim 4, in the network system according to claim 3, the other node executes necessary backup control after recognizing that the cooperation from the predetermined node cannot be obtained. The abnormality determination process may be stopped.

  In addition, as described in claim 5, in the network system according to any one of claims 1 to 4, the command and the notification are external diagnostic tools connected to the cooperative control node group via the network. Alternatively, it may be issued by a node outside the cooperative control node group.

  According to the first to sixth aspects of the present invention, the time difference between the command to the stop node in the cooperative control node group and the notification to the non-stop node can be eliminated at the time of failure diagnosis of the cooperative control node group. For this reason, the control stability of cooperative control and the accuracy of failure diagnosis of the cooperative control node group can be improved.

  FIG. 1 shows a configuration diagram of a network system 10 according to an embodiment of the present invention. The network system 10 according to this embodiment includes a plurality of nodes 12. The plurality of nodes 12 are connected to each other via a multiplex communication line 14. Therefore, each node 12 can transmit / receive various data to / from other nodes 12 via the multiplex communication line 14. The multiplex communication line 12 is a shared bus composed of a single line or a twisted pair line, and can transmit data transmitted from each node 12 by time division multiplexing.

  The network system 10 according to the present embodiment is configured by connecting ECUs and intelligent sensors, which are electronic control units provided in various control devices of an automobile, as nodes 12 through multiple communication lines 14. The node 12 includes, for example, a steering angle sensor that outputs a signal corresponding to the steering angle, a yaw rate sensor that outputs a signal corresponding to the yaw rate generated around the center of gravity of the vehicle, a throttle opening, an accelerator opening, an engine water temperature, and the like. Engine ECU that performs engine control based on the vehicle, VSC (Vehicle Stability Control) that stabilizes the turning behavior of the vehicle based on wheel speed, yaw rate, steering rudder angle, etc.-ECU, shift position of the vehicle based on shift operation position, etc. Transmission ECU to control, Brake ECU to control the braking force of the vehicle based on the brake depression force, steering rudder angle, etc., Power steering ECU to control the steering assist force based on the steering rudder angle, etc., Air conditioner operation switch, interior temperature etc. Auto air conditioner control based on Air conditioner ECU.

  Predetermined predetermined data is shared between specific nodes 12 among all the nodes 12 connected via the multiplex communication line 14. For example, wheel speed information detected by the brake ECU is shared among the VSC-ECU, the brake ECU, and the engine ECU. Further, between the engine ECU and the automatic air conditioner ECU, information on the engine water temperature detected by the engine ECU is shared. That is, the specific node 12 transmits / receives necessary shared data to / from another specific node 12.

  Hereinafter, when the node 12 performs control based on data transmitted from another node 12 is referred to as cooperative control. A group of nodes 12 sharing data among all the nodes 12 connected via the multiplex communication line 14 are collectively referred to as a cooperative control node group. Furthermore, in the following, the cooperative control node group is assumed to be composed of three nodes A, B, and C, but may be composed of two or four or more nodes.

  Each node 12 has a microcomputer (microcomputer) incorporating a controller and a communication module connected to the microcomputer. The microcomputer controls the controller according to a predetermined communication protocol such as CAN (Controller Area Network), digitizes the output data from its own node or sensor to be transmitted to other nodes via the multiplex communication line 14, It decodes input data received from another node via the multiplex communication line 14 and executes its own control. Further, the communication module is controlled by the controller and transmits data to other nodes other than the own node and receives data transmitted from the other node to the own node. Each of the nodes A to C performs control in the own node based on the state of sensors and switches connected to the own node and data transmitted from other nodes.

  The data transmitted by each node 12 is composed of signal frames having a predetermined configuration in advance. This signal frame includes at least a field indicating the destination of the transmission data (identification code of the node to be received). For example, a start of frame (SOF) indicating the start of the frame and transmission data from the plurality of nodes 12 are included. A priority code indicating the priority order of transmission of the data at the time of collision, a data length code indicating the length of the transmission data, a field indicating the destination of the transmission data, and the type of transmission data (for example, the own node) Field for indicating data, and requesting data transmission to other nodes, and notifying other nodes of errors, etc.) and the contents of the transmission data itself (for example, wheel speed information, etc.) Field, CRC field for checking transmission errors, and reception completed successfully And fields to confirm that was, and end-of-frame (EOF) that indicates the end of frame, is constructed from.

  Each node 12 is assigned a unique identification code for distinguishing and identifying from other nodes 12 in advance. In addition, an identification code of the same format different from the identification code of each node 12 is also attached to a node group composed of a plurality of nodes 12 that execute cooperative control. Each node 12 receives a signal frame including the identification code of the own node as a destination as transmission data from the other node 12, and also includes a signal frame including the identification code of the cooperative control node group including the own node as the destination. Can be received as transmission data.

  The network system 10 according to the present embodiment is a system capable of transmitting data to be transmitted from each node 12 to another node 12 via the multiplex communication line 14 by time division multiplexing. That is, each node 12 starts data transmission in a state where no other data is flowing through the multiplex communication line 14, while when data transmission is started simultaneously from one or more other nodes, data transmission is performed according to the transmission priority. When data transmission from another node is being performed, data transmission is performed after waiting for a predetermined time.

  By the way, in the network system 10 of the present embodiment, coordinated control is performed in which the node 12 performs control based on data transmitted from another node 12, and at least one node A in the coordinated control node group is performed. When -C fails, the entire control system falls into an abnormal state or malfunction. For example, in a situation where the node A is a steering angle sensor, the node B is a VSC-ECU, and the node C is a power steering ECU, if the steering angle sensor fails (for example, sensor signal sticking abnormality), cooperative control is performed. Thus, the turning behavior control by the VSC-ECU and the steering assist control by the power steering ECU are not normally performed. In addition, when the nodes A to C are nodes that perform self-diagnosis, the self-node has failed due to a failure of another node even though the self-node has not actually failed. Sometimes it is mistakenly determined.

  Thus, as a method for identifying which node A to C is the failed node (hereinafter referred to as a failed node) 12 when the above failure occurs, the nodes A to C in the cooperative control node group are identified as follows. Stopping or fixing the operation one by one (in a node that executes cooperative control for operating some actuator, stop or fix the cooperative control), and a node where the operation is stopped (hereinafter referred to as a stop node) ) It is conceivable that nodes other than A to C (hereinafter referred to as non-stop nodes) A to C are informed that the operation of one node is stopped or fixed, and that their operations are executed in that state.

  One of the nodes A to C is stopped or fixed, and the remaining nodes A to C recognize that one node stops operating (that is, the cooperation from one node cannot be obtained). If the operation is continued in this state, and such processing is performed by sequentially switching the stop node from node A to node C, control of non-stop nodes other than the stop node forcibly stopping the operation is performed. The state of the system can be observed from the state, and it becomes possible to identify the failure node.

  In the network system 10 of the present embodiment, the node 12 includes an external diagnostic tool connected to a cooperative control node group that performs cooperative control via a multiplex communication line 14 or a predetermined node outside the cooperative control node group (hereinafter referred to as an external device as appropriate). Tool / node 20). The external diagnostic tool is connected to the multiplex communication line 14 mainly when a failure of the coordinated control node group is to be diagnosed, and transmits / receives data to / from the nodes A to C in that state, thereby diagnosing the failure of the coordinated control node group. It is a device to perform. Further, the predetermined node outside the cooperative control node group is always connected to the multiplex communication line 14 and is a node capable of transmitting / receiving data to / from the nodes A to C, and the cooperative control including the nodes A to C. Anything that controls the node group may be used.

  When the external tool / node 20 identifies a failure node in the cooperative control node group, first, the external tool / node 20 stops operation via one of the nodes A to C in the cooperative control node group via the multiple communication line 14. Alternatively, a command for executing the operation fixing is performed, and the operation of one node A to C is stopped or fixed to all the other nodes A to C in the cooperative control node group via the multiplex communication line 14. A notification to the effect is made, and the system state in the cooperative control node group is observed from the operation results (including the control result of the cooperative control) of the other nodes A to C in that state.

  For example, first, when the stop node is node A and the non-stop nodes are nodes B and C, a command for stopping operation or the like (hereinafter referred to as a control stop command) is sent to the node A via the multiplex communication line 14. And a notification that the operation of the node A is stopped (hereinafter referred to as a stop notification) is supplied to the nodes B and C via the multiplex communication line 14. Then, the respective operation results of the nodes B and C in a state in which the node A is stopped and the nodes B and C recognize the stop of the operation of the node A (that is, the cooperation from the node A cannot be obtained). Observe. Next, the stop node is switched to the node B, the non-stop nodes are switched to the nodes C and A, and a control stop command for stopping the operation is supplied to the node B via the multiplex communication line 14, and A stop notification that the operation of the node B is stopped is supplied to the nodes C and A via the multiplex communication line 14, the operation of the node B is stopped, and the operation of the nodes B and C is stopped. The respective operation results of the nodes C and A in the state of recognizing (that is, the cooperation from the node B cannot be obtained) are observed. Finally, the stop node is switched to node C, the non-stop nodes are switched to nodes A and B, and the same processing is performed.

  According to such a series of processing, from the operation result of the non-stop node other than the stop node that is forcibly stopped or fixed, the stop node is stopped, and the non-stop node is stopped, etc. The state of the cooperative control node group in the state of recognizing that the cooperation from the stop node cannot be obtained) can be observed, thereby identifying the failed node that caused the failure in the cooperative control node group It becomes possible.

  FIG. 2 is a diagram for explaining the above-described control stop instruction and stop notification procedures performed from the external tool / node 20 to each of the nodes A to C in the cooperative control node group in the network system 10 of the present embodiment. Indicates. 2A shows the control stop command and stop notification procedure executed in the system compared with the network system 10 of this embodiment, and FIG. 2B shows the network system of this embodiment. 10 shows a control stop command and a stop notification procedure executed in FIG.

  However, in order to perform failure diagnosis of the cooperative control node group, a control stop command to be supplied to one node A to C in the cooperative control node group and all other nodes A to C in the cooperative control node group 2 is separately sent from the external tool / node 20 in the order of (1) to (3) as shown in FIG. 2A. If it is issued and transmitted toward the multiplex communication line 14, the following inconvenience occurs.

  That is, the nodes 12 of this embodiment are connected to each other via one multiplex communication line 14, and the data transmitted from each node 12 flows through the multiplex communication line 14 by time division multiplexing. Due to the time difference from the stop notification, as a result, after the control stop command is received by the stop node and before the stop notification is received by the non-stop node, the stop notification is not received by the non-stop node. As a result, the operation and cooperative control at the non-stop node may become unstable, and the failure diagnosis of the cooperative control node group may be erroneous, and the failure diagnosis of the self at the non-stop node may be erroneous.

  Therefore, in the network system 10 of the present embodiment, when performing failure diagnosis of the cooperative control node group, as shown in FIG. 2B, it should be supplied to one node A to C in the cooperative control node group. By using both a control stop command and a stop notification indicating that one of the nodes A to C to be supplied to all the other nodes A to C in the cooperative control node group has stopped operating, etc. The tool / node 20 issues them simultaneously.

  Specifically, when the external tool / node 20 performs failure diagnosis of the cooperative control node group, first, a control stop command and a stop notification that can be received and read by all the nodes A to C in the cooperative control node group. (For example, as shown in FIG. 2B), the control stop command for stopping the operation of the node A and the stop notification indicating that the operation stop of the node A is performed are also used. Transmission data) is generated, and the destination of the transmission data is set to an identification code indicating all the nodes A to C in the cooperative control node group (that is, an identification code indicating the cooperative control node group). Then, transmission data composed of the signal frame is issued and transmitted toward the multiplex communication line 14.

  In this case, a control stop command to one of the nodes A to C (node A in the state shown in FIG. 2B) in the cooperative control node group and all the other nodes A to C (FIG. 2 ( In the state shown in B), stop notifications to the nodes B and C) are simultaneously made, and the nodes A to C transmit transmission data transmitted from the external tool / node 20 via the multiplex communication line 14 almost simultaneously. Can be received. That is, when a control stop command is received by the stop node, a stop notification is received by the non-stop node almost simultaneously.

  Therefore, according to the network system 10 of this embodiment, the time difference between the control stop command to the stop node in the cooperative control node group and the stop notification to the non-stop node is eliminated at the time of failure diagnosis of the cooperative control node group. Is possible. Therefore, there is no instability of cooperative control or operation due to non-reception of the stop notification by the non-stop node after receiving the control stop command by the stop node. As a result, it is possible to narrow down the failure nodes in the cooperative control node group and improve the accuracy of the failure diagnosis. In addition, it is possible to properly perform a self-diagnosis of the non-stop node.

  In the above embodiment, the multiplex communication line 14 corresponds to the “network” described in the claims.

  By the way, in the above-described embodiment, the transmission data combining the control stop command and the stop notification transmitted from the external tool / node 20 toward the multiplex communication line 14 is transmitted to all the nodes A to. In order for C to receive and read, identification codes indicating all the nodes A to C in the cooperative control node group are used as the destination of the transmission data, but the operation is stopped or fixed for the destination of the transmission data. While using the identification code of one of the nodes A to C, the other nodes A to C in the cooperative control node group can send the transmission data to the own node or the cooperative control node group to which the own node belongs. If it is for a node in the cooperative control node group, the transmission data may be received and read. Further, the identification codes of all the nodes A to C in the cooperative control node group are listed in parallel at the destination of the transmission data, and the transmission data is received by all the nodes A to C in the cooperative control node group. It is good also as making it read.

  Further, in the above-described embodiment, when a non-stop node other than the stop node in which the operation stop or the like in the cooperative control node group is performed receives a stop notification that the stop of the operation of the stop node is received, the cooperative control Recognizing that no cooperation from the stop node can be obtained in, while executing the control (backup control) and operation of the stop node in a state where the stop node is stopped or fixed in operation, it is normally performed. The abnormality determination process of the own node or another node may be stopped. According to such a configuration, an erroneous determination that an abnormality has occurred in the own node or another node due to non-reception of the stop notification by the non-stop node after reception of the control stop command by the stop node is performed. It becomes possible to prevent.

  Further, in the above embodiment, in performing failure diagnosis of the cooperative control node group, one node A to C is stopped, etc., and one other node A to C is connected to one node A. ~ C is to be notified that the operation stop etc. will be performed, but when a large number of nodes including the above-mentioned embodiment constitute a cooperative control node group, stop the operation of two or more nodes, etc. In addition, all other nodes may be notified that the operation of two or more nodes is to be stopped.

  In the above-described embodiment, the cooperative control node group mounted on one network system to which a plurality of nodes 12 are connected via the multiplex communication line 14 is only one of the nodes A to C. However, two or more different cooperative control node groups may be configured in one network system.

  Furthermore, in the above-described embodiment, the network system 10 is configured such that various electronic control units of the automobile are connected via the multiplex communication line 14, but the present invention is not limited to this. The electronic control device may be mounted other than the automobile and connected via a multiple communication line.

It is a block diagram of the network system which is one Example of this invention. It is a figure for demonstrating the procedure of the instruction | command and notification which are performed with respect to each node in a cooperative control node group from an external tool / node in the network system of a present Example.

Explanation of symbols

10 Network system 12 Node 14 Multiple communication line 20 External tool / node

Claims (6)

A network system constituting a cooperative control node group in which a plurality of nodes connected via a network perform control in cooperation with each other,
When diagnosing a failure in the cooperative control node group, a command for executing an operation stop or operation fixation to be supplied to a predetermined node in the cooperative control node group, and another command in the cooperative control node group A network system characterized by also issuing a notification that the operation of the predetermined node to be supplied to the node is stopped or the operation is fixed.   The network system according to claim 1, wherein the predetermined node stops or fixes predetermined cooperative control when receiving the command.   The network system according to claim 1, wherein the other node recognizes that the cooperation from the predetermined node cannot be obtained when the notification is received.   4. The network system according to claim 3, wherein the other node executes necessary backup control or stops the abnormality determination process after recognizing that the cooperation from the predetermined node cannot be obtained.   The command and the notification are issued by an external diagnostic tool connected to the cooperative control node group via the network or a node outside the cooperative control node group. The network system according to one item. A method of diagnosing a failure of a network system that constitutes a cooperative control node group in which a plurality of nodes connected via a network perform control in cooperation with each other,
A command for executing an operation stop or operation fixing to be supplied to a predetermined node in the cooperative control node group, and the predetermined node to be supplied to another node in the cooperative control node group A failure diagnosis method for a network system, wherein the failure of the cooperative node group is diagnosed by issuing a notification that the operation is stopped or the operation is fixed.

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