JP2016074355A - Gateway device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gateway device capable of changing intervals of transfer of communication frames to an electronic control unit on a receiving side according to change of transmission intervals of the communication frames by an electronic control unit on a transmitting side.SOLUTION: A gateway device 10 transmits communication frames received from a first electronic control unit to a second electronic control unit, and is constituted by comprising: a receiving part 11 which receives the communication frames transmitted from the first electronic control unit; a measurement part which measures reception intervals of the communication frames received by the receiving part; a determination part 12 which determines whether or not the reception intervals measured by the measurement part are equal to or less than a shortening determination threshold for detecting shortening of the reception intervals; and a transmitting part 13 which transmits the communication frames by changing transmission intervals to the second electronic control unit from the first transmission intervals to second transmission intervals which are shorter than the first transmission intervals when it is determined that the reception intervals are equal to or less than the shortening determination threshold by the determination part 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a gateway device.

  For example, in an automobile or the like, a plurality of electronic control units (ECUs) for controlling various functions of the automobile are mounted. Examples of the ECU include an engine ECU that controls the engine, a brake ECU that controls the brake, and a transmission ECU that controls the transmission. The plurality of ECUs are connected via a communication line to construct an in-vehicle network such as a CAN (Controller Area Network) (see, for example, Patent Document 1). A gateway device is connected to the in-vehicle network, and the gateway device receives a communication frame output from the ECU on the transmission side and transfers the received communication frame to another ECU on the reception side.

JP 2014-28547 A

  As a gateway device, every time a communication frame is received, a type that forwards the received communication frame and a communication frame that is transmitted at regular intervals from the ECU on the transmission side are received, and the received communication frame is Some types are transferred at intervals. In recent years, some ECUs on the transmission side shorten the interval for transmitting communication frames in accordance with the state of the controlled object. However, in a gateway device of a type that transfers communication frames at regular intervals, the communication frame is transmitted in correspondence with the shortened intervals even though the transmission-side ECU transmits the communication frames at shortened intervals. Could not be transferred. Also, in a gateway device that transfers a received communication frame each time a communication frame is received, if the communication frame is excessively received from a plurality of ECUs, the transfer of the communication frame may be significantly delayed. It was.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a gateway device capable of changing a communication frame transfer interval to a reception-side electronic control unit in accordance with a change in communication frame transmission interval by a transmission-side electronic control unit. And

  The gateway device of the present invention is a gateway device that transmits a communication frame received from the first electronic control unit to the second electronic control unit, and receives the communication frame transmitted from the first electronic control unit. A receiving unit, a measuring unit that measures a reception interval of a communication frame received by the receiving unit, and whether or not the receiving interval measured by the measuring unit is equal to or less than a shortening determination threshold for detecting a shortening of the receiving interval. When the determination unit and the determination unit determine that the reception interval is equal to or less than the shortening determination threshold, the transmission interval to the second electronic control unit is changed from the first transmission interval to the first transmission interval. And a transmission unit that transmits the communication frame by changing to a short second transmission interval.

  In this gateway device, the reception interval of the communication frame received from the first electronic control unit is measured, and when the measured reception interval is shortened, the first transmission interval is changed to the second transmission interval. Thus, the transmission interval for transferring the communication frame is shortened. Accordingly, the communication frame transfer interval for the second electronic control unit on the receiving side is changed in accordance with the change in the transmission interval of the communication frame by the first electronic control unit on the transmitting side.

  In addition, when the communication unit transmits a communication frame at the second transmission interval, the determination unit has a reception interval measured by the measurement unit that is equal to or greater than an extension determination threshold for detecting an extension of the reception interval. When the determination unit determines that the reception interval is equal to or greater than the extension determination threshold, the transmission unit transmits the communication frame at the third transmission interval that is longer than the second transmission interval. You may transmit to an electronic control unit. Thereby, in the case where the communication frame is transmitted at the second transmission interval, the reception interval of the communication frame received from the first electronic control unit is measured, and when the measured reception interval is extended, By changing the second transmission interval to the third transmission interval, the communication frame transmission interval is extended.

  Further, the determination unit counts the number of consecutive shortening detections, which is the number of times that the communication frame reception interval is continuously determined to be equal to or less than the shortening determination threshold, and whether or not the number of consecutive shortening detections reaches the first reference number. The control unit transmits a communication frame to the second electronic control unit at the second transmission interval when the number of consecutive shortening detection times reaches the first reference number. Whether the number of consecutive extended detections, which is the number of times the communication frame reception interval is continuously determined to be greater than or equal to the extension determination threshold, is counted, and whether the number of consecutive extended detections reaches a second reference number greater than the first reference number The control unit may transmit the communication frame to the second electronic control unit at the third transmission interval when the number of consecutive extended detections reaches the second reference number. As a result, when the communication frame reception interval is continuously shortened by the first reference number, the transmission interval can be shortened, and the communication frame reception interval is continuously increased by the second reference number. The transmission interval can be extended. As described above, when the reception interval is continuously shortened or extended a plurality of times, the transmission interval can be prevented from being changed excessively by changing the transmission interval. In addition, since the second reference number applied when the transmission interval is extended is larger than the first reference number applied when the transmission interval is shortened, the second reference number is shorter than when the transmission interval is extended. The transmission interval can be easily changed.

  According to the present invention, it is possible to provide a gateway device capable of shortening the communication frame transmission interval for the second electronic control unit in accordance with the shortening of the communication frame transmission interval by the first electronic control unit. it can.

It is a schematic block diagram which shows the vehicle-mounted network to which the gateway apparatus of one Embodiment of this invention was connected. It is a flowchart which shows the procedure performed in the gateway apparatus, and shows the procedure in the case of shortening a transmission interval. It is a flowchart which shows the process procedure performed in a gateway apparatus, and shows the procedure in the case of extending a transmission interval.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same part or an equivalent part, and the overlapping description is abbreviate | omitted.

  FIG. 1 is a schematic configuration diagram showing an in-vehicle network to which a gateway device according to an embodiment of the present invention is connected. An in-vehicle network 1 shown in FIG. 1 is configured such that a plurality of ECUs that control various functions of a vehicle are connected via a communication line, and data communication between the plurality of ECUs is possible.

  The in-vehicle network 1 employs a LAN (Local Area Network) such as CAN. The in-vehicle network 1 may employ a communication protocol other than CAN, and may employ, for example, LIN (Local Interconnect Network), FlexRay (registered trademark), MOST (Media Oriented System Transport), or the like.

  As a vehicle to which the in-vehicle network 1 is applied, for example, a medium-sized bus can be cited. The vehicle to which the in-vehicle network 1 is applied is not particularly limited, and may be, for example, a commercial vehicle such as a truck. There may be.

  The in-vehicle network 1 is connected to a plurality of ECUs, receives a communication frame transmitted from a transmission-side ECU (first electronic control unit), and receives the received communication frame at a predetermined transmission interval. A gateway device 10 for transmission to the ECU (second electronic control unit) is connected. In addition to the ECU, various sensors, switches, actuators, computers, and the like may be connected to the in-vehicle network 1.

  The plurality of ECUs are divided into a plurality of groups, and are connected to the gateway device 10 via common communication lines 2 to 5 for each group. The in-vehicle network 1 is divided into, for example, four groups.

  The first group includes an engine ECU 21, a brake ECU 22, an AMT-ECU 23, and the like as a plurality of ECUs. The ECUs 21 to 22 included in the first group are connected to the gateway device 10 via the communication line 2.

  The second group includes a vehicle control ECU 31 and an ECU 32 as a plurality of ECUs. The ECUs 31 and 32 included in the second group are connected to the gateway device 10 via the communication line 3.

  The third group includes a door opening / closing ECU 41, ECUs 42, 43 and the like as a plurality of ECUs. The ECUs 41 to 43 included in the third group are connected to the gateway device 10 via the communication line 4.

  The fourth group includes a navigation ECU 51 and an ECU 52 as a plurality of ECUs. The ECUs 51 and 52 included in the fourth group are connected to the gateway device 10 via the communication line 5.

  The engine ECU 21 is a control unit that controls the engine of the vehicle, and controls, for example, engine ignition timing, fuel injection amount, valve opening / closing, and the like. The engine ECU 21 detects various data (for example, engine speed, engine water temperature, etc.) for detecting the state of the engine and transmits data indicating the state of the engine.

  The brake ECU 22 is a control unit that controls the brake, and controls, for example, the operation timing of the brake, the magnitude of the braking force, and the like. The brake ECU 22 detects the operating state of the brake and transmits data indicating the operating state of the brake.

  The AMT-ECU 23 is a control unit that controls an automatic transmission (AMT: Automated Manual Transmission), and controls, for example, a gear change of the automatic transmission. In addition, the AMT-ECU 23 detects the state of the automatic transmission and transmits data indicating the state of the automatic transmission.

  The vehicle control ECU 31 is a control unit that controls the entire vehicle. For example, the vehicle control ECU 31 controls a plurality of ECUs to perform control related to driving support. The vehicle control ECU 31 receives data related to the state of the vehicle from the plurality of ECUs and transmits data related to the command signal to the plurality of ECUs.

  Moreover, as ECU32, the control part etc. which perform control regarding the safety of a vehicle are mentioned, for example. The ECU 32 may be, for example, a control unit that controls an airbag.

  The door opening / closing ECU 41 is a control unit that controls the opening / closing of the door of the bus, and controls, for example, an electric motor for opening / closing the door. Further, the door opening / closing ECU 41 detects data related to the open / closed state of the door and transmits data indicating the open / closed state of the door.

  Moreover, as ECU42,43, the control part etc. which perform control regarding the body of a vehicle are mentioned, for example. The ECUs 42 and 43 may be, for example, a control unit that controls the position and posture of the seat, or a control unit that controls an air conditioner and vehicle interior lighting.

  The navigation ECU 51 is a control unit that controls the car navigation system, and controls, for example, route search and route guidance. The navigation ECU 51 detects data related to the position of the host vehicle and data related to map information and transmits various data related to route guidance.

  Moreover, as ECU52, the control part etc. which perform control regarding an audio equipment are mentioned, for example. The ECU 52 may be a control unit that controls, for example, a communication device or an image display device.

  An ECU other than the above ECU may be connected to the in-vehicle network 1. The plurality of ECUs included in each group may be other combinations. Further, one ECU may be connected to a plurality of different communication lines and included in a plurality of groups.

  Examples of the communication frame transmitted from the ECU include a data frame, a remote frame, an error frame, an overload frame, and an inter frame space. The data frame is a frame used when the transmission-side ECU sends a message such as data to the reception-side ECU. The remote frame is a frame used when the receiving ECU requests a message holding the same ID from the transmitting ECU. The error frame is a frame used when notifying other ECUs of an error when an error is detected. The overload frame is a frame used when the receiving ECU notifies the reception preparation incomplete. The inter frame space is a frame used for separating the data frame and the remote frame from the previous frame.

  The ECU transmits communication frames at regular intervals set in advance during normal times. Also, depending on the state of the control target, some ECUs transmit a communication frame with a transmission interval shorter than normal. For example, the brake ECU 22 transmits a data frame at a transmission interval of 100 msec at a normal time when the brake is not operated, and transmits a data frame at a transmission interval of 10 msec when the brake is operated. Further, for example, when the automatic transmission is in a neutral state, the AMT-ECU 23 transmits a data frame at a transmission interval of 100 msec, and transmits a data frame at a transmission interval of 10 msec during acceleration or deceleration.

  Next, the gateway device 10 will be described. The gateway device 10 includes a reception unit 11, a determination unit 12, and a transmission unit 13. The gateway device 10 is configured by a computer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory).

  The receiving unit 11 receives communication frames transmitted from various ECUs. The receiving unit 11 functions as a measuring unit that measures the reception interval of received communication frames. The receiving unit 11 measures the interval between communication frames received from the same ECU. The receiving unit 11 acquires the time of the received communication frame, the ECU on the transmission side, and the type of communication frame. For example, the time when the data frame transmitted from the brake ECU 22 is received and the time when the data frame transmitted from the brake ECU 22 is received next are measured, the difference between these times is calculated, and the reception interval is measured. To do.

  The determination unit 12 determines whether the reception interval of the communication frame received by the reception unit 11 has been changed. The determination unit 12 determines that the reception interval has been shortened when the measured reception interval is equal to or less than the shortening determination threshold. The determination unit 12 determines that the reception interval has been extended when the measured reception interval is equal to or greater than the extension determination threshold after the reception interval has been shortened. The shortening determination threshold is a shortening determination threshold for detecting shortening of the reception interval. The extension determination threshold is an extension determination threshold for detecting an extension of the reception interval. The shortening determination threshold and the extension determination threshold are set in advance for each ECU on the transmission side according to the type of communication frame.

  For example, as the shortening determination threshold for the brake ECU 22, 50 msec, which is a half value of the normal reception interval, can be adopted. Further, as the extension determination threshold for the brake ECU 22, 30 msec, which is three times the shortened reception interval, can be employed.

  The determination unit 12 counts the number of consecutive shortening detections, which is the number of times that the communication frame reception interval is continuously determined to be equal to or less than the shortening determination threshold, and sets the number of consecutive shortening detections to the first reference number (for example, 2 times). It is determined whether it has been reached.

  The determination unit 12 counts the number of consecutive extended detections, which is the number of times that the communication frame reception interval has been determined to be equal to or greater than the extension determination threshold, and sets the number of consecutive extended detections to a second reference number (for example, three times). It is determined whether it has been reached.

  The transmission unit 13 transmits the communication frame received by the reception unit 11 to the ECU on the reception side. The transmission unit 13 changes the interval at which the communication frame is transmitted based on the result of determination by the determination unit 12. When it is determined that the number of consecutive shortening detection times reaches the first reference number, the transmission unit 13 determines a second transmission interval (for example, shorter than the first transmission interval from the first transmission interval (for example, 100 msec)). 10 msec). Thereby, the transmission interval to the ECU on the receiving side is shortened. In addition, when it is determined that the extension detection consecutive number has reached the second reference number, the transmission unit 13 changes the second transmission interval to the first transmission interval to extend the transmission interval. Thereby, the transmission interval to the ECU on the receiving side can be returned to before shortening.

  Next, with reference to FIG.2 and FIG.3, the process sequence performed with a gateway apparatus is demonstrated. Here, the case where the data frame transmitted from brake ECU22 is received and the received data frame is transmitted to vehicle control ECU31 is demonstrated. FIG. 2 is a flowchart showing a procedure for shortening the transmission interval in the gateway device.

  As described above, the brake ECU 22 transmits a data frame at a transmission interval of 100 msec in a state where the brake is not operated, and transmits a data frame at a transmission interval of 10 msec in a state where the brake is operated.

  The receiving unit 11 of the gateway device 10 receives the data frame transmitted from the brake ECU 22, and measures the data frame reception interval (step S1). Next, the determination unit 12 determines whether or not the reception interval is equal to or shorter than the shortening determination threshold (step S2). When the reception interval is 10 msec, the determination unit 12 determines that the reception interval is equal to or less than the shortening determination threshold (for example, 50 msec), and when the reception interval is 100 msec, the reception interval is equal to or less than the shortening determination threshold. It is determined that it is not. If it is determined that the reception interval is less than or equal to the shortening determination threshold value, the process proceeds to step S3, where “1” is added to the number of consecutive shortening detections, and if it is determined that the reception interval is not less than or equal to the shortening determination threshold value. In step S4, the number of consecutive shortening detections is set to “0”. The gateway apparatus 10 returns to step S1 after step S4, and repeats a process.

  After step S3, the gateway device 10 proceeds to step S5 and determines whether or not the number of consecutive shortening detections has reached “2”. If the gateway device 10 determines that the number of consecutive shortening detections has reached “2”, the gateway device 10 proceeds to step S6. If it determines that the number of consecutive shortening detections has not reached “2”, the gateway device 10 proceeds to step S1. Return to and repeat the process.

  In step S6, the transmission unit 13 shortens the data frame transmission interval to the vehicle control ECU 31 from the first transmission interval to the second transmission interval. The transmission unit 13 of the gateway device 10 transmits the data frame received from the brake ECU 22 to the vehicle control ECU 31 according to the set transmission interval. The transmission unit 13 transmits the latest data frame among the received data frames.

  FIG. 3 is a flowchart showing a procedure for extending the transmission interval in the gateway device.

  The receiving unit 11 of the gateway device 10 receives the data frame transmitted from the brake ECU 22, and measures the data frame reception interval (step S11). Next, the determination unit 12 determines whether or not the reception interval is greater than or equal to the extension determination threshold (step S12). The determination unit 12 determines that the reception interval is equal to or greater than the extension determination threshold (for example, 30 msec) when the reception interval is 100 msec, and the reception interval is equal to or greater than the extension determination threshold when the reception interval is 10 msec. It is determined that it is not. If it is determined that the reception interval is equal to or greater than the extension determination threshold value, the process proceeds to step S13, and “1” is added to the number of consecutive extension detections, and if it is determined that the reception interval is not less than or equal to the extension determination threshold value. In step S14, the extension detection continuous count is set to “0”. The gateway apparatus 10 returns to step S11 after step S14, and repeats a process.

  After step S13, the gateway device 10 proceeds to step S15, and determines whether or not the extension detection continuous count has reached “3”. If the gateway device 10 determines that the extension detection continuous count has reached “3”, the gateway device 10 proceeds to step S16. If it determines that the extension detection continuous count has not reached “3”, the gateway device 10 proceeds to step S11. Return to and repeat the process.

  In step S16, the transmission unit 13 extends the data frame transmission interval to the vehicle control ECU 31 from the second transmission interval to the first transmission interval. The transmission unit 13 of the gateway device 10 transmits the data frame received from the brake ECU 22 to the vehicle control ECU 31 according to the set transmission interval. The transmission unit 13 transmits the latest data frame among the received data frames.

  In such a gateway device 10, when the reception interval of the communication frame received from the ECU on the transmission side is measured and it is determined that the measured reception interval is shortened, the first transmission interval is changed to the second transmission interval. By changing, it is possible to shorten the interval for transmitting the communication frame. Further, when the gateway device 10 transmits the communication frame at the shortened second transmission interval, and determines that the reception interval is extended, the gateway device 10 changes from the second transmission interval to the first transmission interval. By doing so, it is possible to extend the interval for transmitting the communication frame and restore it. Thereby, according to the change of the transmission interval of the communication frame by the ECU on the transmission side, the interval of transfer of the communication frame to the ECU on the reception side can be changed.

  Further, in the gateway device 10, when it is determined that the reception interval is equal to or less than the shortening determination threshold value twice consecutively, the transmission interval is shortened, so that the transmission interval is prevented from being frequently changed. be able to. Similarly, in the gateway device 10, when it is determined that the reception interval is equal to or greater than the extension determination threshold value three times in succession, the transmission interval is frequently changed because the shortened transmission interval is extended. This can be prevented. In the gateway device 10, the second reference number (3 times) applied when the transmission interval is extended is larger than the first reference number (2 times) applied when the transmission interval is shortened. Therefore, the transmission interval can be easily changed in the case of shortening than in the case of extending.

  Moreover, since the gateway apparatus 10 transfers the communication frame at the set transmission interval, the latest communication frame can be transferred among the communication frames received within the set period. For example, even when communication frames are frequently received, a delay in communication frame transfer can be suppressed by transferring the latest communication frame within a set period. Therefore, without significantly improving the processing capability of the gateway device 10, it is possible to suppress the delay of communication frame transfer and reduce the transmission interval to the receiving ECU according to the state of the transmitting ECU. Can do.

  The present invention is not limited to the above-described embodiments, and various modifications as described below are possible without departing from the gist of the present invention.

  Although the case where the gateway device 10 is applied to the in-vehicle network 1 has been described in the above embodiment, the gateway device 10 can be applied to another network to which a plurality of electronic control units are connected. For example, the gateway device may be applied in a network to which a plurality of electronic control units for controlling various functions such as machine tools, plants, ships, medical equipment, and industrial equipment are connected.

  In the above embodiment, the data frame reception interval is measured as the communication frame and the data frame transmission interval is changed. However, as the communication frame, the remote frame reception interval is measured and the remote frame The transmission interval may be changed.

  In the above embodiment, the communication frame transmission interval is shortened when it is determined that the communication frame reception interval is continuous or less than the shortening determination threshold, but when the reception interval shortening is detected. The transmission interval may be shortened. Similarly, the transmission interval may be extended when the extension of the transmission interval is detected without counting the number of consecutive times. In the above embodiment, the second reference number is set to a value larger than the first reference number. However, the first reference number and the second reference number may be set to the same value. May be larger than the second reference number.

  In the above embodiment, when the transmission interval is shortened, when the reception interval is extended, the shortened second transmission interval is returned to the first transmission interval before the shortening. It is not necessary to return to the first transmission interval. For example, the second transmission interval may be maintained, or may be extended to a transmission interval (third transmission interval) that is longer than the second transmission interval and different from the first transmission interval.

  Note that the ECU on the transmission side and the ECU on the reception side may be any ECU. Further, a plurality of gateway devices 10 may be connected in the network.

  In the above embodiment, the reception unit 11 functions as a measurement unit that measures the reception interval of communication frames. However, the determination unit 12 may function as a measurement unit.

  DESCRIPTION OF SYMBOLS 10 ... Gateway apparatus, 11 ... Reception part (measurement part), 12 ... Determination part, 13 ... Transmission part, 21 ... Engine ECU, 22 ... Brake ECU, 23 ... AMT-ECU, 31 ... Vehicle control ECU, 41 ... Door opening / closing ECU, 51 ... navigation ECU, 32, 42, 43, 52 ... ECU.

Claims (3)

A gateway device that transmits a communication frame received from a first electronic control unit to a second electronic control unit,
A receiver for receiving the communication frame transmitted from the first electronic control unit;
A measurement unit for measuring the reception interval of the communication frame received by the reception unit;
A determination unit that determines whether or not the reception interval measured by the measurement unit is equal to or less than a shortening determination threshold for detecting a shortening of the reception interval;
When the determination unit determines that the reception interval is equal to or less than the shortening determination threshold, the transmission interval to the second electronic control unit is shorter than the first transmission interval from the first transmission interval. A gateway device comprising: a transmission unit that changes to a second transmission interval and transmits the communication frame. The determination unit is an extension for detecting an extension of the reception interval when the transmission unit transmits the communication frame at the second transmission interval. Determine whether it is above the threshold,
When the determination unit determines that the reception interval is greater than or equal to the extension determination threshold, the transmission unit transmits the communication frame at a third transmission interval longer than the second transmission interval. The gateway apparatus according to claim 1, wherein the gateway apparatus transmits the electronic control unit. The determination unit counts the number of consecutive shortening detections, which is the number of times that the communication frame reception interval is continuously determined to be equal to or less than the shortening determination threshold, and the number of consecutive shortening detections reaches the first reference number. Whether or not
The transmission unit transmits the communication frame to the second electronic control unit at the second transmission interval when the shortened detection consecutive number reaches the first reference number.
The determination unit counts the number of consecutive extended detections, which is the number of times that the communication frame reception interval is continuously determined to be equal to or greater than the extension determination threshold, and the number of consecutive extended detections is greater than the first reference number. Determine whether the second reference number has been reached,
3. The transmission unit according to claim 2, wherein the transmission unit transmits the communication frame to the second electronic control unit at the third transmission interval when the extension detection consecutive number reaches the second reference number. Gateway device.

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