JP2009027270A - Communication system, repeater and communication method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a communication system capable of preventing a communication apparatus from being erroneous controlled on the basis of abnormal data by detecting abnormality of data included in a message by the communication apparatus when transmitting a plurality of data to be included in the message, and to provide a repeater and a communication method. <P>SOLUTION: Data c, e and f transmitted from in-vehicle devices 1c, 1e and 1f being communication equipment are once stored in a database 31a of a repeater 3a, and the repeater 3a units the data to one message and transmits the message to the in-vehicle device 1c that needs the data c, e and f. However, the repeater 3a determines whether any of the data c, e and f is abnormal at that time, and when the data is abnormal, the transmission of the message is stopped or specific information for specifying which one is abnormal among the data c, e and f is transmitted. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a communication system including a plurality of communication devices that transmit and receive data and a relay device that relays data transmission and reception between the communication devices. In particular, when a plurality of data is included in a message and transmitted in order to reduce the communication load on the communication line and improve the processing efficiency of each communication device, the communication device can detect an abnormality in the data included in the message. The present invention relates to a communication system, a relay device included in the communication system, and a communication method.

  In recent years, systems in which a plurality of communication devices are connected, functions are assigned to the respective communication devices, and various processes are performed by exchanging data with each other are used in various fields. For example, in the field of in-vehicle LAN (Local Area Network) distributed to vehicles, ECUs (Electronic Control Units) are used as communication devices, and each ECU performs specialized processing to mutually exchange data. By exchanging, various functions are realized as a system.

  As the functions of each communication device are specialized and the functions that each communication device can perform, the number and types of communication devices connected to the communication medium also increase. Furthermore, since various functions are expected as a system, it is necessary for each communication device to share and cooperate with each other, and the amount of data to be transmitted increases.

  Therefore, each communication device is divided into a plurality of groups, and each group is connected by a communication line. The groups are connected by a relay device, and the relay device relays and transfers data between the communication devices of different groups. It may be set as the structure to do. In this case, in the configuration in which the relay device transfers data transmitted from each communication device so that any data is transmitted to other communication devices, the amount of communication on the communication line cannot be reduced. Furthermore, even if the data is incomplete or illegal due to a failure of the communication device, the data may be transferred, and processing in the communication device that uses the data may be hindered.

On the other hand, in Patent Document 1, unnecessary data is determined by determining whether or not the relay device transfers data according to the data contents, and determining that the data is not transferred when the data is incomplete or illegal. A technique capable of eliminating the transfer of the above is disclosed.
JP 2002-16614 A

  Even if each communication device is divided into a plurality of groups, the amount of data transmitted to the communication line is not reduced in a configuration in which the relay device transfers all data necessary for control of each communication device. Depending on the communication load of the communication line, transmission of any of the data necessary for the communication devices of different groups may be delayed, and the communication device may be in a state of waiting for transmission of the data.

  The present invention has been made in view of such circumstances, and it is possible to make the communication load and the processing in each communication device more efficient by adopting a configuration in which a plurality of data is collectively transmitted in one message. In the communication system capable of preventing erroneous control from being performed in the communication device based on the abnormal data by adopting a configuration in which transmission of the message is stopped when abnormal data is included in the communication system, It is an object of the present invention to provide an included relay apparatus and communication method.

  Another object of the present invention is to prevent a situation in which other data included in the message is not transmitted by being configured to transmit the message even when abnormal data is included, and is included in the message. Communication system capable of preventing erroneous control in communication device due to abnormal data by configuration for transmitting information capable of specifying abnormal data, relay device and communication method included in communication system Is to provide.

  Another object of the present invention is to transmit information indicating whether there is an abnormality in the data included in the message to be transmitted from the relay device, and if there is an abnormality in the data, identify the abnormal data from the communication device. By requesting information to be transmitted, it is possible to simplify transmission / reception processing between messages, relay devices, and communication devices, thereby reducing communication load in the system, improving processing efficiency, and preventing erroneous control. It is to provide a communication system that can do this.

  The communication system according to the first aspect of the invention is a plurality of communication devices that transmit and receive data, and storage means that is connected to the communication devices via a communication line, receives data from each communication device, and stores the received data A relay device configured to transmit data read from the storage means to each communication device, wherein the relay device receives a message including a plurality of data received from each communication device. A generation unit for generating, a unit for transmitting the message generated by the generation unit to each communication device, and an abnormality determination for determining whether or not the data included in the message is abnormal when generating the message by the generation unit And means for canceling the transmission of the message when the data is determined to be abnormal by the abnormality determination means.

  A communication system according to a second aspect of the invention is a plurality of communication devices that transmit and receive data, and storage means that is connected to the communication devices via a communication line, receives data from each communication device, and stores the received data A relay device configured to transmit data read from the storage means to each communication device, wherein the relay device receives a message including a plurality of data received from each communication device. A generation unit for generating, a unit for transmitting the message generated by the generation unit to each communication device, and an abnormality determination for determining whether or not the data included in the message is abnormal when generating the message by the generation unit Specific information for specifying that the data is abnormal data when the data and the abnormality determination means determine that the data is abnormal. Characterized in that it comprises a means for signal.

  In the communication system according to a third aspect of the present invention, when the relay device transmits a message, the relay device transmits together the abnormality presence / absence information indicating the presence / absence of abnormal data in the message based on the determination result by the abnormality determination unit; Means for transmitting the specific information when a request from a communication device is received, and the communication device indicates that there is abnormal data by the abnormality presence / absence information received together when the message is received And a means for requesting the relay device to transmit the specific information.

  A relay device according to a fourth invention is connected to a plurality of external devices via a communication line, receives data from each external device, storage means for storing the received data, and data read from the storage means A relay device that relays transmission / reception of data between the external devices, the generating device generating a message including a plurality of received data, and the generation Means for transmitting the message generated by the means to each communication device, means for determining whether or not the content of the data included in the message is abnormal when generating the message by the generating means, and the data is abnormal Means for canceling the transmission of the message when it is determined.

  A relay device according to a fifth invention is connected to a plurality of external devices via communication lines, receives data from each external device, storage means for storing the received data, and data read from the storage means A relay device that relays transmission / reception of data between the external devices, the generating device generating a message including a plurality of received data, and the generation Means for transmitting the message generated by the means to each communication device, means for determining whether or not the content of the data included in the message is abnormal when generating the message by the generating means, and the data is abnormal And a means for transmitting specific information for specifying that the data is abnormal data.

  In the communication method according to the sixth aspect of the invention, the relay device connected to the plurality of communication devices that transmit and receive data via the communication line receives the data from each communication device, stores the received data in the storage means, A communication method for relaying data by transmitting data read from a means to each communication device, wherein the relay device includes a message including a plurality of data received from each communication device. It is determined whether or not the data is abnormal, and when it is determined that the data is abnormal, the transmission of the message is stopped.

  In the communication method according to the seventh aspect of the present invention, the relay device connected to the plurality of communication devices that transmit and receive data via the communication line receives the data from each communication device, stores the received data in the storage means, A communication method for relaying data by transmitting data read from a means to each communication device, wherein the relay device includes a message including a plurality of data received from each communication device. It is determined whether or not the data is abnormal, and when it is determined that the data is abnormal, specific information for specifying that the data is abnormal data is transmitted.

  In the present invention, data transmitted from each communication device constituting the communication system is received by the relay device and stored in the storage means, and a plurality of data received from each communication device is received from the relay device to each communication device. The data is read from the storage means, collected into one message, and transmitted to each communication device. However, when the message is transmitted, it is determined whether or not the message transmitted by the relay device includes abnormal data. When it is determined that the message includes abnormal data, the message transmission is stopped.

  In the present invention, data transmitted from each communication device constituting the communication system is received by the relay device and stored in the storage means, and a plurality of data received from each communication device is received from the relay device to each communication device. The data is read from the storage means, collected into one message, and transmitted to each communication device. When the message is transmitted, it is determined whether or not the message transmitted by the relay device includes abnormal data. When it is determined that the abnormal data is included, the abnormal data included in the message is specified. Specific information that can be transmitted.

  In the present invention, when it is determined that abnormal data is included in a message transmitted from the relay device to each communication device, abnormality presence / absence information indicating whether the message includes abnormal data is transmitted. If the presence / absence information received by the communication device indicates that it contains abnormal data, the communication device requests transmission of specific information from the relay device and identifies abnormal data from the relay device in response to the request. Specific information for sending is sent.

  In the case of the present invention, the data transmitted from each communication device is not transferred by the relay device as needed, but is temporarily stored in the storage means, and is read from the storage means and transmitted when transmitted to each communication device. Sent as a single message. As a result, the communication load can be reduced rather than being transferred at any time, and the combination of data included in the message is a combination of data necessary for control of the communication apparatus that receives the data. Since necessary data can be received together, processing can be made more efficient.

  Further, in the case of the present invention, even if a plurality of data is included in one message and transmitted as described above, the transmission of the message is stopped if the message includes abnormal data. It is possible to prevent erroneous control using abnormal data in the apparatus.

  According to the present invention, since the message is transmitted even when the message includes abnormal data, it is possible to avoid a situation in which other normal data included in the message is not transmitted. Each communication device also receives specific information that can identify abnormal data when the message contains abnormal data, so it is possible to ignore abnormal data and control using normal data It becomes possible. Thereby, it is possible to prevent erroneous control using abnormal data in each communication device.

  According to the present invention, since the message is transmitted even when the message includes abnormal data, it is possible to avoid a situation in which other normal data included in the message is not transmitted. If the message contains abnormal data, information indicating the presence or absence of abnormal data in the message is sent, so the communication device that receives the message can determine the presence or absence of abnormal data. There is no need to analyze specific information when there is no data. In this case, information indicating the presence or absence of abnormal data can be realized with a simple configuration.

  Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof. In the following embodiments, an example of an in-vehicle communication system in which the communication system according to the present invention is applied to an in-vehicle LAN connected to a plurality of in-vehicle devices that perform data transmission / reception processing according to a CAN (Controller Area Network) protocol. Explained.

(Embodiment 1)
FIG. 1 is a schematic diagram showing a configuration of an in-vehicle communication system according to Embodiment 1 of the present invention. The in-vehicle communication system connects in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f using electronic control units (ECUs) and in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f, respectively. Communication lines 2a, 2b, and 2c, relay apparatuses 3a and 3b that connect the communication lines 2a, 2b, and 2c, and a communication line 4 that connects the relay apparatuses 3a and 3b.

  The in-vehicle devices 1a and 1b are connected to the communication line 2a, the in-vehicle devices 1c and 1d are connected to the communication line 2b, and the in-vehicle devices 1e and 1f are connected to the communication line 2c in a bus type. A relay device 3a is further connected in a bus shape to the communication lines 2a and 2b. The relay device 3a can receive the data transmitted by the in-vehicle devices 1a and 1b via the communication line 2a and the data transmitted by the in-vehicle devices 1c and 1d via the communication line 2b, respectively. Similarly, a relay device 3b is further connected in a bus type to the communication line 2c, and the relay device 3b can receive data transmitted by the in-vehicle devices 1e and 1f via the communication line 2c.

  The relay devices 3a and 3b are connected via the communication line 4 and can transmit and receive data to and from each other. The in-vehicle devices 1a and 1b can transmit and receive data via the relay devices 3a and 3b and the in-vehicle devices 1c, 1d, 1e, and 1f connected to the different communication lines 2b and 2c.

  The in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f are devices that can transmit data including numerical information of various physical quantities such as measured values, calculated values, and control values, or can be controlled by a microcomputer such as an engine and a brake. is there. For example, the in-vehicle device 1a is connected to a sensor (not shown) that detects the vehicle speed, and sends data on the vehicle speed detected from the sensor to the communication line 2a.

  The communication lines 2a, 2b, and 2c are communication lines based on a CAN (Controller Area Network) protocol, and the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f are connected to the CAN via the communication lines 2a, 2b, and 2c. Data transmission / reception is possible by the generation / detection of the signal based on the signal. The communication lines 2a, 2b, and 2c used in the in-vehicle communication system according to the first embodiment are not limited to this, and data transmission / reception based on protocols such as LIN (Local Interconnect Network) and FlexRay (registered trademark) is possible. May be. Further, the communication lines 2a, 2b, and 2c may be configured with different data transmission / reception speeds according to the type of data to be transmitted / received.

  The relay devices 3a, 3b are measured values, calculated values, control values, etc. of various physical quantities transmitted from the in-vehicle devices 1a, 1b, 1c, 1d, 1e, 1f via the connected communication lines 2a, 2b, 2c. Receive data. The relay devices 3a and 3b have storage areas used as the databases 31a and 31b, respectively, store the data transmitted from the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f in the databases 31a and 31b. The data read from 31a, 31b is transmitted to the in-vehicle devices 1a, 1b, 1c, 1d, 1e, 1f as necessary.

  As shown in FIG. 1, the relay device 3b stores data e and f transmitted from the in-vehicle devices 1e and 1f in a database 31b. When these data e and f are necessary in the in-vehicle device 1a, the relay device 3b transmits the data e and f transmitted from these in-vehicle devices 1e and 1f to the relay device 3a. The relay device 3a stores the data c transmitted from the in-vehicle device 1c and the data e and f from the in-vehicle devices 1e and 1f transmitted from the relay device 3b in the database 31a. When the data c, e, and f transmitted from the in-vehicle devices 1c, 1e, and 1f are necessary for the control of the in-vehicle device 1a, the relay device 3a reads the data c, e, and f from the database 31a and transmits the data to the in-vehicle device 1a. To do.

  Thus, the relay devices 3a and 3b read out necessary data from the databases 31a and 31b to the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f connected via the communication lines 2a, 2b, and 2c, respectively. It has the function to transmit so that it may distribute.

  In the in-vehicle communication system according to the first embodiment, when the relay devices 3a and 3b transmit data to the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f, the data necessary for each in-vehicle device is included in one message. , Send that message. As shown in FIG. 1, when the data transmitted from the vehicle-mounted devices 1c, 1e, and 1f is required for the control of the vehicle-mounted device 1a, the relay device 3a receives the data transmitted from the vehicle-mounted devices 1c, 1e, and 1f each time. Instead of transmitting to the in-vehicle device 1a, they are included in one message and transmitted together.

  By the way, any of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f may have a failure, and further there may be a disconnection of the communication lines 2a, 2b, and 2c. In this case, the state in which data is not transmitted from any of the in-vehicle devices 1c, 1e, and 1f or the content of the transmitted data may be in an invalid state. When data is not transmitted, the data stored in the databases 31a and 31b of the relay apparatuses 3a and 3b are not updated. Therefore, the data stored in the databases 31a and 31b is old data, and when the old data is transmitted to the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f and used, the respective controls are hindered. there is a possibility.

  Therefore, in the in-vehicle communication system according to the first embodiment, is the relay device 3a, 3b transmitted from each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, 1f and stored in the databases 31a, 31b normal? Alternatively, it is determined whether it is abnormal, and if abnormal, transmission of a message including the data is stopped. Thereby, in-vehicle device 1a, 1b, 1c, 1d, 1e, and 1f can detect that the data is abnormal because it cannot receive a message containing necessary data. It is possible to prevent erroneous control due to abnormal data.

  FIG. 2 is a block diagram illustrating the internal configuration of the in-vehicle device 1a and the relay device 3a that constitute the in-vehicle communication system according to the first embodiment. The in-vehicle device 1a includes a control unit 10 that controls the operation of each component shown below, a storage unit 11 that stores data necessary for control, and a communication control unit 12 that controls communication with the communication line 2a. . Since the other vehicle-mounted devices 1b, 1c, 1d, 1e, and 1f have the same configuration as the vehicle-mounted device 1a, detailed description thereof is omitted.

  The control unit 10 receives power supply from a power supply device such as a vehicle battery (not shown), an alternator, etc., reads and executes a control program stored in a nonvolatile internal memory (not shown), and performs operations of the respective components. Control.

  The storage unit 11 includes a volatile memory, and the control unit 10 temporarily stores various information generated in the process, measured values represented by signals input from the sensors, and messages received from the relay device 3a and the in-vehicle device 1b. Remember.

  The communication control unit 12 has a network controller chip and realizes communication with the communication line 2a. The control unit 10 of the in-vehicle device 1a generates a differential voltage between the signal lines of the communication line 2a via the communication control unit 12, transmits the data, detects the differential voltage between the signal lines, and receives the data. .

  The relay device 3a is connected to the communication line 2a, a control unit 30 for controlling the operation of each component shown below, a storage unit 32 made of a volatile memory such as DRAM (Dynamic Random Access Memory), and the communication line 2a. 1 communication control part 33 and the 2nd communication control part 34 connected to communication line 4 are provided. Since the relay device 3b has the same configuration as that of the relay device 3a, detailed description of the configuration and processing procedure described below is omitted.

  The control unit 30 is supplied with power from a power supply device such as a vehicle alternator and a battery (not shown), reads and executes a control program stored in a nonvolatile internal memory (not shown) or the storage unit 32, and executes each configuration. Control the operation of the unit.

  The storage unit 32 of the relay device 3a has a database 31a for storing data received by the control unit 30 from the in-vehicle devices 1a, 1b, 1c, and 1d and data received from the in-vehicle devices 1e and 1f via the relay device 3b. Storage areas are provided. The control unit 30 stores values such as specific measured values, calculated values, control values, and the like in the database 31a for each type such as “vehicle speed” and “steering angle” from the received data.

  The first communication control unit 33 of the relay device 3a realizes data transmission / reception with each of the in-vehicle devices 1a, 1b, 1c, and 1d connected via the communication line 2a and the communication line 2b. The second communication control unit 34 realizes data transmission / reception with the relay device 3 b connected via the communication line 4.

  The control unit 30 of the relay device 3a reads data necessary for each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f from the database 31a of the storage unit 32 and combines them to generate a message. A combination of data to be transmitted to each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f is set, and a message is generated according to the setting of the combination. As a result, each time data is transmitted from each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f, the communication load is greater than the data being transferred to the required in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f. By designing the combination of data included in the message to be a combination of data necessary for controlling each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f, each in-vehicle device 1a, 1b, 1c, 1d, 1e, and 1f can also receive necessary data collectively, and the processing efficiency can be improved.

  Further, when transmitting the message, the control unit 30 of the relay device 3a gives the message a message ID corresponding to the combination of included data and transmits the message. Thereby, each in-vehicle device 1a, 1b, 1c, 1d, 1e, and 1f can recognize the type of data included in the received message.

  FIG. 3 is an explanatory diagram illustrating an example of the content of a message generated by the control unit 30 of the relay device 3a according to the first embodiment. As shown in the explanatory diagram of FIG. 3, the message generated by the control unit 30 of the relay device 3a includes a header part and a data part, and a CRC (Cyclic Redundancy Check) for detecting a transmission error is added. . The header part includes an area in which the length after the data part is represented in addition to the message ID. The data part contains the value of the data to be transmitted. In the content example shown in the explanatory diagram of FIG. 3, “100”, “200”, and “300” are included as specific values included in the data portion. With the message ID, it is possible to identify which type of data each value is. Note that the message generated by the control unit 30 may further include a trailer unit indicating the end of the message following the CRC.

  As described above, the control unit 30 of the relay device 3a has a function of determining whether each data stored in the database 31a is normal or abnormal. For example, the control unit 30 determines whether each data is normal or abnormal as follows. First, a lifetime is set for each type of data. The control unit 30 of the relay device 3a has elapsed time from the time when data is received from each of the in-vehicle devices 1a, 1b, 1c, 1d or the in-vehicle devices 1e, 1f via the relay device 3b or stored in the database 31a ( Age) is measured based on a built-in timer, and the age is stored together with the data in the database 31a and updated. The control unit 30 of the relay device 3a determines that the content is new and normal when the age of each data is less than or equal to the set lifetime, and determines that the content is old when the age exceeds the lifetime. Judge as abnormal.

  FIG. 4 is an explanatory diagram illustrating an example of the contents of the database 31a stored in the storage unit 32 of the relay device 3a according to the first embodiment. As shown in the explanatory diagram of FIG. 4, the record of the database 31 a is configured by identification information (ID), data content (value), age, and lifetime allocated for each data type. Note that the units of the values of age and lifetime are arbitrary units such as 1 millisecond, 10 milliseconds, and 1 second.

  The content example shown in the explanatory diagram of FIG. 4 indicates that the latest value of the data of ID “1” is “100”, and that “50” is set as the lifetime. ing. Furthermore, it is indicated that “10” has passed since the data whose ID is “1” is transmitted from any of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f or stored in the database 31a. Yes. In this case, since the age “10” is the lifetime “50” or less, it is new data, and the control unit 30 determines that the data is normal.

  On the other hand, the latest value of the data of ID “2” is “200”, but the age is “80” for the lifetime “50”. In this case, since the age “80” exceeds the lifetime “50”, it is old data, and the control unit 30 determines that it is abnormal. The latest value of the data with ID “3” is “300”, but the age is “20” for the lifetime “10”. In this case, since the age “20” exceeds the lifetime “10”, it is old data, and the control unit 30 determines that it is abnormal.

  Note that the criterion for determining whether the data is normal or abnormal by the control unit 30 is not limited to the determination based on whether the data content is new as described above. For example, although the value cannot be negative depending on the type of data, the stored value may be determined to be abnormal if the value is negative. Further, for each type of data stored in the database 31a, a threshold for each value for determining whether the stored value is normal or abnormal as the value of each physical quantity, and a value for the elapsed time It is also possible to have a configuration in which a determination criterion including a threshold value of the fluctuation ratio is stored in the storage unit 32 and the control unit 30 determines based on the determination criterion.

  In the in-vehicle communication system configured as described above, when the control unit 30 of the relay device 3a generates and transmits a message from the data stored in the database 31a, whether or not the data included in the message is abnormal A process for determining whether or not to stop transmission according to the above will be described.

  FIG. 5 is a flowchart illustrating a processing procedure when the control unit 30 of the relay device 3a according to the first embodiment generates and transmits a message from data stored in the database 31a.

  The control unit 30 of the relay device 3a reads data for generating a message from the database 31a (step S11), and determines whether any of the read data is abnormal (step S12). When the control unit 30 of the relay device 3a determines that all of the data read in step S11 is normal (S12: NO), the control unit 30 generates a message including the read data (step S13) and transmits the generated message. (Step S14), and the process ends.

  When it is determined that any of the data read in step S11 is abnormal (S12: YES), the control unit 30 of the relay device 3a stops the message transmission (step S15) and ends the process.

  The process shown in the flowchart of FIG. 5 stops sending a message including abnormal data, and erroneous control using old data is performed in each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f. This can be prevented. In addition, each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f can detect that any data has become abnormal by not transmitting a message including desired data.

(Embodiment 2)
In the first embodiment, when the control unit 30 of the relay device 3a determines that the data included in the message is abnormal when the message is generated and transmitted, the in-vehicle device 1a, 1b, 1c , 1d, 1e, and 1f.

  On the other hand, in the second embodiment, the message is transmitted even when it is determined that the data included in the message is abnormal. However, the second embodiment is configured such that specific information that can specify which of the data included in the message is abnormal data is included in the message and transmitted together. Thereby, even if it is a case where the control part 10 of each vehicle-mounted apparatus 1a, 1b, 1c, 1d, 1e, 1f receives the message containing abnormal data, abnormal data is disregarded and other normal data is received. It becomes possible to use and control.

  Since the hardware configuration of the communication system and the configurations of the databases 31a and 31b in the second embodiment are the same as those in the first embodiment, detailed description thereof will be omitted, and the same reference numerals as those in the first embodiment will be used to describe the relay device 3a. A process in which the control unit 30 generates and transmits a message including abnormal data and a structure of the generated message will be described below.

  FIG. 6 is a flowchart illustrating a processing procedure when the control unit 30 of the relay device 3a according to the second embodiment generates and transmits a message from data stored in the database 31a. Note that the elements of the message generation process are basically the same as those in the first embodiment, and thus the same step numbers as those shown in the flowchart of FIG.

  Also in the second embodiment, when the control unit 30 of the relay device 3a determines that any of the data read to transmit the message is normal (S12: NO), it generates a message including the read data. (S13), the generated message is transmitted (S14), and the process is terminated.

  On the other hand, if the control unit 30 of the relay device 3a determines that any of the data read to transmit the message is abnormal (S12: YES), it identifies which of the abnormal data is. A message including specific information that can be transmitted is generated (step S21), the generated message is transmitted (S14), and the process ends.

  FIG. 7 is an explanatory diagram illustrating a content example of a message generated when any of the data is determined to be abnormal by the control unit 30 of the relay device 3a according to the second embodiment. The structure of the message is basically the same as the structure shown in the explanatory diagram of FIG. 3 in the first embodiment. However, when abnormal data is included, as shown in the explanatory diagram of FIG. A negative value “−1”, which is not possible as a specific value, is included. The control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f that has received the message as illustrated in the explanatory diagram of FIG. 7 uses the message ID to specify the data IDs “1”, “2”, and “3”. Since the data values of IDs “2” and “3” included in the data part are “negative” values, the IDs “2” and “3” are recognized. ”Can be detected as abnormal (old) and should not be used for control.

  Accordingly, it is possible to prevent a message including highly important data to be transmitted from being transmitted by including abnormal data elsewhere. Since information that can identify abnormal data is transmitted together, the in-vehicle device can perform control using normal data while ignoring abnormal data. Furthermore, since the in-vehicle device can recognize the type of abnormal data (data of ID “2” and “3” in the content example shown in the explanatory diagram of FIG. 7), the abnormal data is received in the subsequent control. This makes it possible to take measures such as restarting the processing when it cannot be performed.

(Embodiment 3)
In the third embodiment, similar to the second embodiment, the control unit 30 of the relay apparatuses 3a and 3b transmits the message even when the data included when generating the message is abnormal (old). However, the configuration of a message generated by the control unit of relay apparatuses 3a and 3b when the data to be included is abnormal is different from that of the second embodiment.

  The hardware configuration of the communication system and the configurations of the databases 31a and 31b in the third embodiment are the same as those in the first embodiment. Furthermore, the processing procedure in which messages are generated and transmitted by the relay devices 3a and 3b is the same as that in the second embodiment. Therefore, a detailed description of the configuration common to the first and second embodiments is omitted, and the structure of a message generated by the control unit 30 of the relay device 3a using the same reference numerals as those of the first and second embodiments is described below. Explained.

  FIG. 8 is an explanatory diagram illustrating a content example of a message generated when any of the data is determined to be abnormal by the control unit 30 of the relay device 3a according to the third embodiment. The structure of the message is basically the same as that shown in the explanatory diagram of FIG. 3 in the first embodiment, but a flag area is newly added to the data portion to indicate normality / abnormality of data in binary numbers. Is done. Each flag is indicated by “0” when the data is normal and “1” when the data is abnormal.

  In the content example shown in the explanatory diagram of FIG. 8, the flag area is “011”, indicating that the second and third data of the three data included in the data part are abnormal. That is, in the content example shown in the explanatory diagram of FIG. 8, the data values of the IDs “1”, “2”, and “3” are included in the data portion, but the data values of the IDs “2” and “3” are respectively included. “200” and “300” are abnormal (old).

  The control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f that has received the message as illustrated in the explanatory diagram of FIG. 8 uses the message IDs as data IDs “1”, “2”, and “3”. Is recognized in the data part, the flag area contained in the data part is read, the data of ID “2” and “3” are detected to be abnormal (old), and used for control It becomes possible to recognize what should not be done.

(Embodiment 4)
In the fourth embodiment, similar to the second and third embodiments, even when the data included when the control unit 30 of the relay devices 3a and 3b generates a message is abnormal (old), the message is transmitted and the data to be included is The configuration of a message generated by the control unit of the relay apparatuses 3a and 3b when there is an abnormality is different from that of the second and third embodiments.

  The hardware configuration of the communication system and the configurations of the databases 31a and 31b in the fourth embodiment are the same as those in the first embodiment. Furthermore, the processing procedure in which messages are generated and transmitted by the relay devices 3a and 3b is the same as that in the second embodiment. Therefore, a detailed description of the configuration common to the first and second embodiments is omitted, and the structure of a message generated by the control unit 30 of the relay device 3a using the same reference numerals as those of the first and second embodiments is described below. Explained.

  FIG. 9 is an explanatory diagram illustrating a content example of a message generated when any of the data is determined to be abnormal by the control unit 30 of the relay device 3a according to the fourth embodiment. The structure of the message is basically the same as that shown in the explanatory diagram of FIG. 3 in the first embodiment, but the message ID area in the header part is divided, and the normal / abnormal data is newly set together with the message ID. A flag area represented by a decimal number is included. The interpretation of each flag is the same as the content example shown in the explanatory diagram of FIG.

(Embodiment 5)
In the fifth embodiment, similar to the second to fourth embodiments, even when the data included when the control unit 30 of the relay apparatuses 3a and 3b generates a message is abnormal (old), the message is transmitted and the data to be included is The configuration of a message generated by the control unit of the relay apparatuses 3a and 3b when there is an abnormality is different from that of the second to fourth embodiments.

  The hardware configuration of the communication system and the configurations of the databases 31a and 31b in the fifth embodiment are the same as those in the first embodiment. Furthermore, the processing procedure in which messages are generated and transmitted by the relay devices 3a and 3b is the same as that in the second embodiment. Therefore, a detailed description of the configuration common to the first and second embodiments is omitted, and the structure of a message generated by the control unit 30 of the relay device 3a using the same reference numerals as those of the first and second embodiments is described below. Explained.

  FIG. 10 is an explanatory diagram illustrating an example of the content of a message that is generated when the control unit 30 of the relay device 3a according to the fifth embodiment determines that any of the data is abnormal. The structure of the message is basically the same as that shown in the explanatory diagram of FIG. 3 in the first embodiment, but originally the area for CRC is divided, and the control unit 30 of the relay apparatus 3 calculates the CRC. After the original CRC area is filled, the flag area indicating the normality / abnormality of the data in binary number is overwritten in the first half of the area. Therefore, when the entire original CRC area is read as the CRC value and error check is performed on the entire message, it is determined that an error has occurred.

  The control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f that has received the message as shown in the explanatory diagram of FIG. 10 uses the data IDs as data IDs “1”, “2”, and “3”. Is included in the data part, but an error check is performed based on the CRC value and it is determined that an error has occurred, so that any of the data contained in the data part is abnormal. Can be detected. Thereafter, the control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f reads the first half of the original CRC area as a flag area, and the second and third of the three data included in the data part It is possible to detect that the data of IDs “2” and “3” are abnormal (old) and not to be used for control.

(Embodiment 6)
In the sixth embodiment, similar to the second and third embodiments, even when the data included when the control unit 30 of the relay apparatuses 3a and 3b generates a message is abnormal (old), the message is transmitted and the data to be included is The configuration of a message generated by the control unit of the relay apparatuses 3a and 3b when there is an abnormality is different from that of the second to fifth embodiments.

  The hardware configuration of the communication system and the configurations of the databases 31a and 31b in the sixth embodiment are the same as those in the first embodiment. Furthermore, the processing procedure in which messages are generated and transmitted by the relay devices 3a and 3b is the same as that in the second embodiment. Therefore, a detailed description of the configuration common to the first and second embodiments is omitted, and the structure of a message generated by the control unit 30 of the relay device 3a using the same reference numerals as those of the first and second embodiments is described below. Explained.

  FIG. 11 is an explanatory diagram illustrating a content example of a message generated when any of the data is determined to be abnormal by the control unit 30 of the relay device 3a according to the sixth embodiment. The configuration of the message is basically the same as that shown in the explanatory diagram of FIG. 3 in the first embodiment, but an error correction (detection) code is newly added to the data portion. Further, the control unit 30 of the relay device 3a represents the message as binary data, but inverts one of the areas where the abnormal data value included in the data portion is represented by 1 bit. In the content example shown in the explanatory diagram of FIG. 11, the last bits of the areas representing the data values “200” and “300” (respectively decimal numbers) are inverted to become “201” and “301”, respectively. It is shown that. The error correction code added in the content example shown in the explanatory diagram of FIG. 11 is desirably an error correction code that can specify three error bits. At this time, the control unit 30 of the relay apparatus 3a calculates the error correction code, inverts any bit in the area where the abnormal data value is represented, and then calculates and writes the CRC value. As a result, when an error check based on the CRC value is performed, it is determined that the transmission is normal when no transmission error occurs. Therefore, it is possible to distinguish between a bit error due to a transmission error and a bit error due to abnormal data.

  The control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f that has received the message by the message configuration shown in the explanatory diagram of FIG. It is recognized that the values “2” and “3” are included in the data part. Next, the control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f has an error in the area where the data values of the IDs “2” and “3” are represented by the error correction code. It is possible to recognize that the data values of the IDs “2” and “3” are abnormal (old) and should not be used for control.

(Embodiment 7)
In the seventh embodiment, similar to the second to sixth embodiments, the message is transmitted even when the data included when the control unit 30 of the relay apparatuses 3a and 3b generates a message is abnormal (old). However, the configuration of a message generated by the control unit of the relay apparatuses 3a and 3b when the data to be included is abnormal is different from those of the second to sixth embodiments. In the seventh embodiment, the message generated when the data is abnormal includes information indicating the presence or absence of abnormal data, and the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f have abnormal data in the received message. Is included, a request for transmission of specific information for specifying which data is abnormal is requested, and the control unit 30 of the relay apparatuses 3a and 3b transmits the specific information again in response to the request. .

  That is, the hardware configuration of the communication system and the configurations of the databases 31a and 31b in the seventh embodiment are the same as those in the first embodiment. Furthermore, the processing procedure in which messages are generated and transmitted by the relay devices 3a and 3b is the same as that in the second embodiment. Therefore, a detailed description of the configuration common to the first and second embodiments is omitted, the same reference numerals as those of the first and second embodiments are used, the structure of the message generated by the control unit 30 of the relay device 3a, and A process in which specific information is newly transmitted from the relay device 3a in response to an inquiry from the in-vehicle device 1a will be described below.

  FIG. 12 is an explanatory diagram illustrating an example of the content of a message that is generated when the control unit 30 of the relay device 3a according to the seventh embodiment determines that any of the data is abnormal. The structure of the message is basically the same as the structure shown in the explanatory diagram of FIG. 3 in the first embodiment, but a flag area is newly added to the data portion to indicate the presence or absence of abnormal data in binary numbers. The The flag is “0” when there is no abnormal data, and “1” when there is abnormal data. In the content example shown in the explanatory diagram of FIG. 12, the flag area is “1”, indicating that there is abnormal data in the data portion.

  The control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f that has received the message as illustrated in the explanatory diagram of FIG. 12 uses the message ID to specify the data IDs “1”, “2”, and “3”. Is recognized in the data part, the flag area contained in the data part is read, and the ID contained in the message is one of the data of “1”, “2” and “3” Can be detected as abnormal (old) and should not be used for control.

  13 and 14 are flowcharts showing a processing procedure between the relay device 3a and the in-vehicle device 1a when a message is transmitted from the relay device 3a to the in-vehicle device 1a in the seventh embodiment. Note that a part of the message generation processing in the processing procedure shown below is basically the same as the processing procedure in the first embodiment, and therefore the same step number as the processing procedure shown in the flowchart of FIG. Therefore, detailed description is omitted.

  When the control unit 30 of the relay device 3a determines that any of the data read to transmit the message is normal (S12: NO), it indicates that there is no abnormal data in addition to the read data. A message including abnormality presence / absence information is generated (step S301), and the generated message is transmitted (step S302).

  The control unit 10 of the in-vehicle device 1a receives the message transmitted from the relay device 3a (step S303), and determines whether there is abnormal data in the received message based on the abnormality presence / absence information (step S304). In this case, since the abnormality presence / absence information indicates that there is no abnormal data in step S301, the control unit 10 of the in-vehicle apparatus 1a determines that there is no abnormal data (S304: NO), and ends the process. In this case, since all the data included in the received message is normal, it can be used for control in the in-vehicle device 1a.

  On the other hand, if the control unit 30 of the relay device 3a determines that any of the data read to transmit the message is abnormal (S12: YES), it generates specific information for specifying the abnormal data. Then, a message including abnormality presence / absence information indicating that there is abnormal data in addition to the read data is generated (step S306), and the generated message is transmitted (step S307).

  The control unit 10 of the in-vehicle device 1a receives the message transmitted from the relay device 3a (S303), and determines whether there is abnormal data in the received message based on the abnormality presence / absence information (S304). In this case, since the abnormality presence / absence information indicates that there is abnormal data in step S301, the control unit 10 of the in-vehicle device 1a determines that there is abnormal data (S304: YES), and any data is abnormal. The relay apparatus 3a is requested to transmit specific information for specifying whether or not it is (step S308).

  The control unit 30 of the relay device 3a receives the specific information transmission request from the in-vehicle device 1a (step S309), and transmits the specific information generated in step S305 accordingly (step S310).

  The control unit 10 of the in-vehicle device 1a receives the specific information transmitted from the relay device 3a (step S311), and specifies which of the data included in the received message is abnormal based on the received specific information. (Step S312), the process is terminated. At this time, the control unit of the in-vehicle device 1a ignores the data specified in step S312 and does not use it for control.

  As described above, in the seventh embodiment, the abnormality presence / absence information indicating the presence / absence of abnormal data in the message and the specific information for specifying which data is abnormal are transmitted separately. Since the presence / absence information of abnormality is included in the message and transmitted from the relay devices 3a, 3b, the presence of abnormal data in the message is determined on the in-vehicle device 1a, 1b, 1c, 1d, 1e, 1f side that receives the message. be able to. In this case, when there is no abnormal data, the control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f can continue the process as it is, and it is not necessary to analyze the specific information, and there is no abnormal data. It is only necessary to analyze the specific information if there is one. Further, in this case, it can be realized with a simple configuration in which only one bit of abnormality presence / absence information indicating the presence / absence of abnormal data is added.

  In the first embodiment, if any of the data included in the message is abnormal (old data), the transmission is stopped. In any of the second to sixth embodiments, even if any of the data included in the message is abnormal Information that can specify the data is transmitted together. In the present invention, depending on the type of data included in the message, there may be a configuration in which there are a message for stopping transmission when abnormal data is included and a message for transmitting even when abnormal data is included. In this case, it is desirable that the message to be transmitted even when abnormal data is included be transmitted with specific information that can identify which data is abnormal.

It is a schematic diagram which shows the structure of the vehicle-mounted communication system in Embodiment 1 of this invention. It is a block diagram which shows the internal structure of the vehicle-mounted apparatus and relay apparatus which comprise the vehicle-mounted communication system in Embodiment 1. FIG. 6 is an explanatory diagram illustrating an example of the content of a message generated by the control unit of the relay device in Embodiment 1. FIG. It is explanatory drawing which shows the example of the content of the database 31a memorize | stored in the memory | storage part of the relay apparatus in Embodiment 1. FIG. 6 is a flowchart illustrating a processing procedure when the control unit of the relay apparatus according to the first embodiment generates and transmits a message from data stored in a database. 10 is a flowchart illustrating a processing procedure when a control unit of the relay apparatus according to the second embodiment generates and transmits a message from data stored in a database. 12 is an explanatory diagram illustrating an example of the content of a message generated when any of data is determined to be abnormal by the control unit of the relay apparatus according to Embodiment 2. FIG. 10 is an explanatory diagram illustrating an example of the content of a message generated when any of data is determined to be abnormal by the control unit of the relay device according to Embodiment 3. FIG. FIG. 10 is an explanatory diagram illustrating an example of the content of a message generated when any of data is determined to be abnormal by the control unit of the relay device according to the fourth embodiment. FIG. 20 is an explanatory diagram illustrating an example of the content of a message generated when any of data is determined to be abnormal by the control unit of the relay device in the fifth embodiment. FIG. 25 is an explanatory diagram illustrating an example of the content of a message generated when any of data is determined to be abnormal by the control unit of the relay apparatus according to the sixth embodiment. FIG. 25 is an explanatory diagram illustrating an example of the content of a message generated when any of data is determined to be abnormal by the control unit of the relay device according to the seventh embodiment. 18 is a flowchart illustrating a processing procedure between the relay device and the in-vehicle device when a message is transmitted from the relay device to the in-vehicle device in the seventh embodiment. 18 is a flowchart illustrating a processing procedure between the relay device and the in-vehicle device when a message is transmitted from the relay device to the in-vehicle device in the seventh embodiment.

Explanation of symbols

1a, 1b, 1c, 1d, 1e, 1f In-vehicle device 2a, 2b, 2c, 4 Communication line 3a, 3b Relay device 10, 30 Control unit 31a, 31b Database

Claims (7)

A plurality of communication devices that transmit and receive data, and connected to the communication device via a communication line. The communication device includes a storage unit that receives data from each communication device and stores the received data. A communication system including a relay device configured to transmit data to each communication device,
The relay device is
Generating means for generating a message including a plurality of data received from each communication device;
Means for transmitting the message generated by the generating means to each communication device;
An abnormality determining means for determining whether or not the data included in the message is abnormal when generating the message by the generating means;
A communication system comprising: means for stopping transmission of a message when the abnormality determination means determines that the data is abnormal. A plurality of communication devices that transmit and receive data, and connected to the communication device via a communication line. The communication device includes a storage unit that receives data from each communication device and stores the received data. A communication system including a relay device configured to transmit data to each communication device,
The relay device is
Generating means for generating a message including a plurality of data received from each communication device;
Means for transmitting the message generated by the generating means to each communication device;
An abnormality determining means for determining whether or not the data included in the message is abnormal when generating the message by the generating means;
A communication system comprising: means for transmitting specific information for specifying that the data is abnormal data when the abnormality determination means determines that the data is abnormal. When the relay device transmits a message,
Means for transmitting together abnormality presence / absence information indicating presence / absence of abnormal data in the message based on a determination result by the abnormality determination unit;
Means for transmitting the specific information when receiving a request from each communication device,
The communication device comprises means for requesting the relay device to transmit the specific information when the message is received and the abnormal presence / absence information received together indicates that there is abnormal data. The communication system according to claim 2. Means for receiving data from each external device connected to a plurality of external devices via a communication line; storage means for storing the received data; and means for transmitting data read from the storage means to each external device; A relay device configured to relay data transmission / reception between external devices,
Generating means for generating a message including a plurality of received data;
Means for transmitting the message generated by the generating means to each communication device;
Means for determining whether or not the content of data included in the message is abnormal when generating the message by the generating means;
And a means for canceling transmission of the message when it is determined that the data is abnormal. Means for receiving data from each external device connected to a plurality of external devices via a communication line; storage means for storing the received data; and means for transmitting data read from the storage means to each external device; A relay device configured to relay data transmission / reception between external devices,
Generating means for generating a message including a plurality of received data;
Means for transmitting the message generated by the generating means to each communication device;
Means for determining whether or not the content of data included in the message is abnormal when generating the message by the generating means;
A relay device comprising: means for transmitting specific information for specifying that the data is abnormal data when it is determined that the data is abnormal. A relay device connected via a communication line to a plurality of communication devices that transmit and receive data receives data from each communication device, stores the received data in storage means, and reads the data read from the storage means to each communication device A communication method for relaying data by transmitting to
The relay device is
When generating a message including a plurality of data received from each communication device,
Determine whether the data included in the message is abnormal,
If it is determined that the data is abnormal, the transmission of the message is stopped. A relay device connected via a communication line to a plurality of communication devices that transmit and receive data receives data from each communication device, stores the received data in storage means, and reads the data read from the storage means to each communication device A communication method for relaying data by transmitting to
The relay device is
When generating a message including a plurality of data received from each communication device,
Determine whether the data included in the message is abnormal,
A communication method characterized by transmitting specific information for specifying that the data is abnormal data when it is determined that the data is abnormal.

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