JP2017146800A - On-vehicle control device and on-vehicle network including on-vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle control device capable of suppressing control in an on-vehicle control system from being executed in a state that a node which has been rewritten to a new control program and a node which has not been rewritten to a new control program coexist.SOLUTION: A first node is one node in an on-vehicle control system including a plurality of nodes each having a control mode and a reprogram mode as an execution mode in which each node cooperatively performs control in the control mode. The first node determines whether or not all the plurality of nodes have completed the rewriting of the control program S11, S12. Then, the first node determines the execution mode as the control mode S13 when determining that all the nodes have completed the rewriting of the control program, and determines the execution mode as the reprogram mode S14 when not determining that all the nodes have completed the rewriting of the control program.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an in-vehicle control device and an in-vehicle network including the in-vehicle control device.

  Conventionally, there exists a microcomputer disclosed by patent document 1 as an example of a vehicle-mounted control apparatus. When the CPU executes the rewrite program, the microcomputer first clears the FLASH status of the flash memory, then rewrites the entire area of the memory, and finally writes the rewrite completion code in the FLASH status.

JP 2008-165729 A

  By the way, the case where a vehicle-mounted control apparatus is one node in the vehicle-mounted control system in which a some node cooperates and controls can be considered. In such an in-vehicle control system, a node in which the control program is rewritten to a new control program and a node in which the control program is not rewritten to a new control program may be mixed. In this case, the in-vehicle control system has a problem that the control is executed by the node in which the control program is rewritten and the node in which the control program is not rewritten, and the control according to the new control program cannot be performed. .

  The present disclosure has been made in view of the above problems, and it is understood that control in an in-vehicle control system is executed in a state where nodes rewritten with a new control program and nodes not rewritten with a new control program are mixed. It is an object of the present invention to provide a vehicle-mounted control device that can be suppressed and a vehicle-mounted network including the vehicle-mounted control device.

In order to achieve the above object, the present disclosure
A plurality of nodes (10 to 10) having an execution mode including a control mode for executing control by executing a control program and a reprogram mode for executing reproprogram and rewriting the control program without performing control based on the control program 40, 10a), and an in-vehicle control device that determines an execution mode of a node in an in-vehicle control system (100, 110, 120, 130) in which each node performs control in cooperation with the control mode,
A determination unit (S11, S12, S12a to S12c) that determines whether or not all of the plurality of nodes have completed rewriting of the control program;
When the determination unit determines that all nodes have completed rewriting of the control program, the execution unit is determined to be the control mode, and the determination unit determines that all nodes have completed rewriting of the control program. If not, a determination unit (S13, S14, S13a, S14a) for determining the execution mode to the reprolog mode is provided.

  In this way, the in-vehicle control device determines whether or not all nodes have completed rewriting of the control program. That is, the in-vehicle control device determines whether or not rewriting of the control program is completed not only by the own node but also by other nodes. When the in-vehicle control device determines that all nodes have completed rewriting of the control program, the in-vehicle control device determines the execution mode as the control mode. On the other hand, if the in-vehicle control device does not determine that all nodes have completed rewriting of the control program, that is, if at least one node has not completed rewriting of the control program, the in-vehicle control device is set to the reprogram mode. decide.

  Therefore, when the new program node and the old program node are mixed in a plurality of nodes, the in-vehicle control apparatus determines the execution mode of the own node to be the reprogram mode. For this reason, the in-vehicle control device can suppress the control in the control system from being executed in the in-vehicle control system in which the node of the new program and the node of the old program are mixed.

Further features of the present disclosure include
A plurality of in-vehicle control devices having an execution mode of a control mode for executing control by executing a control program and a re-progress mode for executing repro program and rewriting the control program without performing control based on the control program An in-vehicle network configured to communicate with a rewriting device in which each of the plurality of nodes rewrites a control program.
Each of the multiple nodes
A determination unit (S11, S12, S12a, S12b) that determines whether all of the plurality of nodes have completed rewriting of the control program;
When the determination unit determines that all nodes have completed rewriting of the control program, the execution unit is determined to be the control mode, and the determination unit determines that all nodes have completed rewriting of the control program. If not, a determination unit (S13, S14) for determining the execution mode to the re-progress mode;
When the determining unit determines the execution mode to be the control mode, a completion notifying unit that notifies the rewriting device that all the nodes have rewritten the control program is provided.

  Thus, each node can achieve the same effect as described above. Therefore, the in-vehicle network can suppress the control in the control system from being executed in a state where the new program node and the old program node coexist.

Further features of the present disclosure include
Including a plurality of different in-vehicle control systems (100, 130),
Each of the multiple in-vehicle control systems
A plurality of in-vehicle control devices having an execution mode of a control mode for executing control by executing a control program and a re-progress mode for executing repro program and rewriting the control program without performing control based on the control program Nodes (10-30, 50-70), and each node performs control in cooperation in the control mode,
The in-vehicle control device, which is at least one node in each in-vehicle control system,
A determination unit (S11, S12, S12a, S12b) for determining whether or not all of the plurality of nodes included in the same in-vehicle control system as the in-vehicle control device have rewritten the control program;
When the determination unit determines that all nodes have completed rewriting of the control program, the execution unit is determined to be the control mode, and the determination unit determines that all nodes have completed rewriting of the control program. If not, a determination unit (S13, S14) that determines the execution mode to the reprogress mode is provided.

  Thus, the vehicle-mounted control device can achieve the same effects as described above. Therefore, each in-vehicle network can suppress the control in the control system from being executed in a state where the nodes of the new program and the node of the old program are mixed.

  The reference numerals in parentheses described in the claims and in this section indicate the correspondence with the specific means described in the embodiments described later as one aspect, and the technical scope of the invention is as follows. It is not limited.

It is a block diagram which shows schematic structure of the vehicle-mounted control system in 1st Embodiment. It is a block diagram which shows schematic structure of the vehicle-mounted control apparatus in 1st Embodiment. It is an image figure which shows the structure of ROM of the 1st node in 1st Embodiment. It is an image figure which shows the structure of ROM of the 2nd node in 1st Embodiment. It is a flowchart which shows the starting process of the 1st node in 1st Embodiment. It is a flowchart which shows the starting process of the 2nd node in 1st Embodiment. It is a flowchart which shows the processing operation of the 1st node in 1st Embodiment. It is a flowchart which shows the processing operation between AB of FIG. It is a flowchart which shows the processing operation of the 2nd node in 1st Embodiment. It is a sequence diagram which shows the processing operation of the vehicle-mounted control system in 1st Embodiment. It is a flowchart which shows the processing operation of the rewriting tool 400 in 1st Embodiment. It is a flowchart which shows the starting process of the 1st node in 2nd Embodiment. It is a flowchart which shows the starting process of the 1st node in 3rd Embodiment. It is a block diagram which shows schematic structure of the vehicle-mounted control system in 4th Embodiment. It is drawing which shows the relay information of the relay node in 4th Embodiment. It is a block diagram which shows schematic structure of the vehicle-mounted control system in 5th Embodiment. It is a flowchart which shows the starting process of the 1st node in 5th Embodiment. It is a block diagram which shows schematic structure of the vehicle-mounted control system in 7th Embodiment.

  Hereinafter, a plurality of embodiments for carrying out the invention will be described with reference to the drawings. In each embodiment, portions corresponding to the matters described in the preceding embodiment may be denoted by the same reference numerals and redundant description may be omitted. In each embodiment, when only a part of the configuration is described, the other configurations described above can be applied to other portions of the configuration.

(First embodiment)
The first embodiment will be described with reference to FIGS. In the present embodiment, the first node 10 is employed as the in-vehicle control device.

  First, the configuration of the first node 10 and the configuration of the in-vehicle control system 100 including the first node 10 will be described with reference to FIGS. The in-vehicle control system 100 is configured to be mountable on a vehicle. Moreover, it can be said that the vehicle-mounted control system 100 is provided as a part of vehicle-mounted network provided in the vehicle.

  The in-vehicle control system 100 includes a plurality of nodes including the first node 10 in order to integrally control one of a plurality of control systems in the vehicle. The control system is, for example, an engine control system or a body control system. Therefore, as the in-vehicle control system 100, for example, an engine control system can be adopted.

  The in-vehicle control system 100 includes, for example, a second node 20 and a third node 30 in addition to the first node 10. That is, in this embodiment, it can be said that the 1st node 10 which is one of the some nodes 10-30 contained in the vehicle-mounted control system 100 corresponds to a vehicle-mounted control apparatus. It can be said that the in-vehicle control system 100 includes the first node 10, the second node 20, and the third node 30 as nodes in the same control system. Since the first node 10, the second node 20, and the third node 30 are related nodes for executing control of the control system, they can be said to be related nodes.

  Each of the nodes 10 to 30 has, as execution modes, a control mode in which a control program is executed and control is performed, and a reprogram mode in which the repro program is executed and control program is rewritten without performing control based on the control program. Have. The control mode can be said to be a control program execution mode. The reprogram mode can be said to be a repro program execution mode. In the following description, rewriting the control program is also simply referred to as rewriting.

  The in-vehicle control system 100 is configured such that the first node 10, the second node 20, and the third node 30 can communicate via the communication bus 200. That is, each node 10-30 can communicate via the communication bus 200 to which the own node 10-30 is connected.

  The in-vehicle control system 100 is configured to be able to communicate with a rewriting tool 400 provided outside the vehicle. That is, the in-vehicle control system 100 is configured such that the first node 10 can communicate with the rewriting tool 400, for example. Since the second node 20 and the third node 30 are configured to be able to communicate with the first node 10 via the communication bus 200, the second node 20 and the third node 30 are configured to be able to communicate with the rewriting tool 400 via the first node 10. I can say that. For this reason, it can be said that the in-vehicle control system 100 includes the first node 10 as a master, and the second node 20 and the third node 30 as slaves.

  When the execution mode of each of the nodes 10 to 30 is the control mode, the in-vehicle control system 100 performs the control in the control system in cooperation with each of the nodes 10 to 30 by executing the control program by each of the nodes 10 to 30. .

  On the other hand, when the execution mode of each of the nodes 10 to 30 is the replog mode, the in-vehicle control system 100 rewrites the control program of each of the nodes 10 to 30 when each of the nodes 10 to 30 executes the repro program. At this time, the in-vehicle control system 100 rewrites the control program by communicating with the second node 20 and the third node 30 while the first node 10 communicates with the rewriting tool 400.

  That is, the in-vehicle control system 100 can perform control in the control system when all the nodes 10 to 30 execute the control program. For example, when the execution mode in at least one of all the nodes 10 to 30 is the reprop mode, the in-vehicle control system 100 cannot perform control in the control system because the node executes the repro program. Further, when one node of all the nodes 10 to 30 executes the re-prog mode and another node executes the control program, the communication performed when each of the nodes 10 to 30 executes the control program is interrupted. Therefore, control in the control system cannot be performed.

  As described above, the in-vehicle control system 100 is one in which the nodes 10 to 30 perform control in cooperation. For this reason, the control system 100 needs to rewrite the control programs of all the nodes 10 to 30 when the system specification is changed. In other words, the in-vehicle control system 100 prevents the new program node and the old program node from being mixed, such that the first node 10 and the third node 30 are new programs and only the second node is an old program. There is a need to.

  This is because the in-vehicle control system 100 cannot perform control according to the new program as a control system when the node of the new program and the node of the old program coexist. Therefore, the in-vehicle control system 100 needs to reliably rewrite the control program in all the nodes 10-30. In other words, the in-vehicle control system 100 needs to be aligned with the new program in all the nodes 10-30.

  The new program is a control program after being rewritten with a new control program. On the other hand, the old program is a control program before being rewritten with a new control program.

  The new program can be said to be a new version of the control program. Therefore, it can be said that the old program is an older version of the control program than the new program. Therefore, it can be said that the new program and the old program are different version control programs.

  As illustrated in FIG. 2, the first node 10 includes a CPU 13, a ROM 14, a RAM 15, a data transmission / reception unit 16, and the like. The CPU 13 executes a control program and a repro program stored in advance in the ROM 14 described later. The ROM 14 stores a control program, a reprogram, a first flag 11 and a second flag 12. The RAM 15 is a storage unit for temporarily storing calculation results and the like when the CPU 13 performs calculation processing. The data transmission / reception unit 16 is a communication unit for communicating with the second node 20, the third node 30, and the rewriting tool 400 via the communication bus 200. Thus, the first node 10 can be said to be an ECU (Electronic Control Unit).

  Similar to the first node 10, the second node 20 and the third node 30 include a CPU 13, a ROM 14, a RAM 15, a data transmission / reception unit 16, and the like. For this reason, illustration and detailed description regarding the configuration of the second node 20 and the third node 30 are omitted. The first node 10, the second node 20, and the third node 30 mainly differ in the contents of the control program, that is, the control contents and the storage contents of the ROM 14. The third node 30 has the same configuration as the second node 20 although the control content is different. Therefore, in the following description, the second node 20 is used as a representative example.

  The processing operation of each node 10-30 will be described later. The processing operation of the second node 20 and the third node 30 will also be described using the second node 20 as a representative example.

  Here, the contents stored in the ROM 14 of the first node 10 and the contents stored in the ROM 14 of the second node 20 will be described with reference to FIGS.

  As shown in FIG. 3, the ROM 14 of the first node 10 stores the control program, the first flag 11 and the second flag 12 in the rewrite area, and stores the repro program in the non-rewrite area. In addition, the ROM 14 of the first node 10 stores ID information for identifying the related node in the non-rewritable area.

  On the other hand, as shown in FIG. 4, in the ROM 14 of the second node 20, the control program and the first flag 21 are stored in the rewrite area, and the reprogram is stored in the non-rewrite area. That is, the second flag 12 is not stored in the ROM 14 of the second node 20. As shown in FIG. 1, a reference numeral 31 is assigned to the first flag of the third node 30.

  The first flags 11 and 21 are information for determining whether or not rewriting can be completed in the own node. The first flags 11 and 21 are set with either information indicating that rewriting has been completed or information indicating that rewriting has not been completed. For example, 1 can be adopted as information indicating that rewriting has been completed, and 0 can be employed as information indicating that rewriting has not been completed. The first flag 11 is set by the first node 10. On the other hand, the second flag 21 is set by the second node 20.

  Therefore, the first node 10 can determine whether or not the rewriting in the own node 10 is completed by checking the first flag 11. Similarly, the second node 20 can determine whether the rewriting in the own node 20 has been completed by checking the second flag 21.

  The second flag 12 is information for determining whether or not the rewriting can be completed in the second node 20 and the third node 30 as well as the own node 10. That is, the second flag 12 is information for determining whether or not the rewriting in all the nodes 10 to 30 included in the in-vehicle control system 100 is completed. In the present embodiment, as an example, the second flag 12 that is a count value obtained by counting nodes that have been rewritten is employed. Therefore, the first node 10 can determine whether or not the rewriting has been completed in all of the first node 10, the second node 20, and the third node 30 by checking the second flag 12.

  The rewriting tool 400 corresponds to a rewriting device. The rewriting tool 400 is configured to be operable by a dealer or a factory worker. The rewriting tool 400 performs rewriting according to the operation by the operator. The rewriting tool 400 is connected to the vehicle via a cable and a connector when rewriting. The rewriting tool 400 is removed from the vehicle when rewriting is not performed, for example, after rewriting is completed. Note that the rewriting tool 400 can be said to be a writer.

  Here, before the processing operation of each of the nodes 10 to 30, the processing operation of the rewriting tool 400 will be described with reference to FIGS. 10 and 11. The rewriting tool 400 executes the flowchart of FIG. 11 when rewriting is instructed by an operator while connected to the vehicle. As will be described later, each of the nodes 10 to 30 returns an ACK in response to each request from the rewriting tool 400.

  In step S60, an erase request command is transmitted. As shown in FIG. 10, the rewrite tool 400 individually transmits an erase request command to each of the first node 10 to the third node 30. When the rewrite tool 400 transmits an erasure request command to each node, the rewrite tool 400 transmits it together with the ID information of the transmission target node. For example, when the rewrite tool 400 transmits an erase request command to the first node 10, the rewrite tool 400 transmits the ID information of the first node 10 and the erase request command. This erasure request command is a command for requesting erasure of the control program stored in the ROM 14.

  In step S61, it is determined whether a response to the erase request command has been received. The rewrite tool 400 determines whether or not a response to the erase request command, that is, ACK has been received. If the rewriting tool 400 determines that the ACK has been received, the rewriting tool 400 proceeds to step S62. If the rewriting tool 400 does not determine that the ACK has been received, the rewriting tool 400 repeats the step S61.

  Note that the rewrite tool 400 may end the process of FIG. 11 when ACK is not received for a predetermined time after the deletion request command is transmitted. That is, the rewriting tool 400 may perform a count-out process. Further, the rewriting tool 400 may perform a count-out process in the following determination. Further, the count-out process may be performed for each of the nodes 10 to 30 described later.

  In step S62, a rewrite request command is transmitted. As shown in FIG. 10, the rewrite tool 400 individually transmits a rewrite request command to each of the first node 10 to the third node 30. The rewrite tool 400 transmits the rewrite request command together with the ID information of the transmission target node, as in the case of transmitting the erase request command. This rewrite request command is a command for requesting writing of a new control program to the ROM 14 from which the control program has been erased.

  In step S63, it is determined whether a response to the rewrite request command has been received. The rewrite tool 400 determines whether or not an ACK for the rewrite request command has been received. If the rewriting tool 400 determines that the ACK has been received, the rewriting tool 400 proceeds to step S64. If the rewriting tool 400 does not determine that the ACK has been received, the rewriting tool 400 repeats the step S63. Note that the rewrite tool 400 receives the ACK for the rewrite request command, and then transmits the ID information of the target node and new control program data to the target node.

  In step S64, a verify request command is transmitted. As shown in FIG. 10, the rewriting tool 400 individually transmits a verify request command to each of the first node 10 to the third node 30. The rewrite tool 400 transmits the verify request command together with the ID information of the transmission target node, as in the case of transmitting the erase request command. This verify request command is a command for requesting to verify whether or not a new control program has been normally written.

  In step S65, it is determined whether a response to the verify request command has been received. The rewrite tool 400 determines whether or not an ACK for the refine request command has been received. If the rewriting tool 400 determines that the ACK has been received, the rewriting tool 400 proceeds to step S66. If the rewriting tool 400 does not determine that the ACK has been received, the rewriting tool 400 repeats the step S65.

  In step S66, it is determined whether a second flag setting completion notification has been received. Hereinafter, the second flag setting completion notification is also simply referred to as completion notification. The notification of completion of the second flag setting is information indicating that rewriting is completed in each of the nodes 10 to 30. The rewriting tool 400 proceeds to step S67 when it is determined that the completion notification has been received, and repeats step S66 when it is not determined that the completion notification has been received. As will be described later, the first node 10 transmits a completion notification to the rewriting tool 400 every time the setting of the second flag 12 is completed, that is, every time the count value is stored in the second flag 12.

  In step S67, it is determined whether or not rewriting of all nodes is completed. The rewriting tool 400 determines that all nodes have been rewritten when notification of completion of all nodes 10 to 30 is received, and rewrites all nodes when notification of completion of all nodes 10 to 30 has not been received. Is determined not to be completed. When the rewriting tool 400 determines that the rewriting of all the nodes 10 to 30 has been completed, the rewriting tool 400 ends the processing of FIG. 11, and when it has not determined that the rewriting of all the nodes 10 to 30 has been completed, step S60. Return to. That is, the rewriting tool 400 executes the flowchart of FIG. 11 until rewriting of all the nodes 10 to 30 is completed.

  Here, the processing operation of each of the nodes 10 to 30 will be described with reference to FIGS.

  First, the startup process of the first node 10 will be described with reference to FIG. For example, when the ignition switch is turned on, the first node 10 executes the flowchart of FIG.

  In step S10, the power is turned on and the reset is released. The first node 10 turns on the power of its own node 10 and releases the reset of its own node 10.

  In step S11, it is determined whether or not the first flag 11 = OK. The first node 10 checks the stored contents of the first flag 11 and determines whether or not the first flag 11 is OK, that is, whether or not the rewriting in the own node 10 is completed. When the first flag 11 is 1, the first node 10 considers the first flag 11 = OK, that is, rewriting is completed, and proceeds to step S12. Further, when the first flag 11 is 0, the first node 10 considers that the first flag 11 is not OK, that is, rewriting has not been completed, and proceeds to step S14.

  In step S12, it is determined whether or not the second flag 12 = the total number of nodes to be rewritten (determination unit). The first node 10 confirms the stored contents of the second flag 12 and determines whether or not the second flag 12 = the total number of rewrite target nodes, that is, whether or not the rewrite has been completed in all the rewrite target nodes. Determine. Here, all the rewriting target nodes are the first node 10, the second node 20, and the third node 30 included in the in-vehicle control system. Therefore, the total number of nodes to be rewritten is 3.

  When the count value of the second flag 12 is 3, the first node 10 regards the second flag = the total number of rewrite target nodes, that is, rewrite is completed in all the rewrite target nodes 10 to 30. Proceed to step S13. Note that the state where the rewriting is completed in all the rewriting target nodes 10 to 30 can be regarded as the state where all the nodes 10 to 30 are rewritten with the new program.

  On the other hand, when the count value of the second flag 12 is not 3, the first node 10 is not the second flag = the total number of rewrite target nodes, that is, the rewrite is performed on at least one of the total rewrite target nodes 10 to 30. The process proceeds to step S14 assuming that it has not been completed. Note that the state in which rewriting has not been completed in at least one of the rewriting target nodes 10 to 30 is a state in which at least one of all the nodes 10 to 30 remains the old program and the rest is rewritten to the new program. It can be considered.

  As will be described in detail later, the first node 10 sets the count value of the second flag 12 when the rewriting is completed at the own node 10 and when the completion notification is received from the second node 20 or the third node 30. Count up. Therefore, the first node 10 completes the rewriting in all the nodes 10 to 30 based on the completion of the rewriting in the own node 10 and the notification of completion acquired from each of the other nodes 20 and 30. It can be said that it is determined whether or not. That is, the first node 10 determines whether or not all of the plurality of nodes 10 to 30 have been rewritten in step S12 (determination unit).

  Thus, the first node 10 determines whether or not all of the plurality of nodes 10 to 30 have been rewritten based on the count value. For this reason, the first node 10 can determine whether or not all of the plurality of nodes 10 to 30 have completed rewriting while suppressing an increase in the amount of information. That is, the first node 10 can reduce the amount of information and can store a plurality of nodes 10 to 30 rather than storing information indicating that the rewriting is completed individually for each of the nodes 10 to 30. It can be determined whether or not all of the above have been rewritten.

  The first node 10 is one node included in the in-vehicle control system 100 as described above. Therefore, the 1st node 10 can determine whether all the nodes 10-30 which influence control of the vehicle-mounted control system 100 are rewritten by the new program by performing determination of step S12.

  In step S13, the control program execution mode is set (determination unit). On the other hand, in step S14, the repro program execution mode is set (determination unit). That is, the first node 10 determines the execution mode as the control mode when all the nodes 10 to 30 have completed rewriting of the control program. When the first node 10 does not determine that all the nodes 10 to 30 have completed rewriting of the control program, the first node 10 determines the execution mode as the reprogress mode.

  In step S15, it is determined whether or not the power is off. If the first node 10 determines that the power is off, the first node 10 ends the process of FIG. 5, and if it is not determined that the power is off, returns to step S11.

  In the present embodiment, an example is adopted in which it is determined in step S12 whether or not rewriting has been completed in all the nodes 10 to 30. Therefore, in this embodiment, step S11 can be omitted. In this case, the first node 10 may not determine whether or not the first flag 11 is 1 during the startup process. However, the first node 10 can proceed to step S14 without checking the second flag 12 when the rewriting in the node 10 is not completed by performing the determination in step S11. Further, as will be described later, the other nodes 20 and 30 determine whether or not the rewriting in the own node has been completed as in step S10. Therefore, the 1st node 10 can reduce the change point with the other nodes 20 and 30 by performing determination of step S11.

  Next, the activation process of the second node 20 will be described with reference to FIG.

  In step S20, as in step S10, the local node 20 is powered on and reset. In step S21, similarly to step S11, it is determined whether or not the first flag 21 = OK. Unlike the first node 10, the second node 20 does not have a second flag. Therefore, if the second node 20 determines that the first flag 21 = OK, the process proceeds to step S22, and the execution mode is determined to be the control mode in step S22. On the other hand, if the second node 20 does not determine that the first flag 21 = OK, the process proceeds to step S23, and the execution mode is determined to be the re-progress mode in step S23.

  In step S24, as in step S15, it is determined whether the power is off. Then, the second node 20 ends the process of FIG. 6 when it is determined that the power is off, and returns to step S21 when it is not determined that the power is off.

  Next, a processing operation when rewriting the control program in the first node 10 will be described with reference to FIGS. For example, when the ignition switch is turned on, the first node 10 executes the flowchart of FIG. When the processing operation illustrated in FIG. 7 is performed, the execution mode of the first node 10 is the reprolog mode. More specifically, the first node 10 transmits an erasure request command after transition to the reprolog mode, for example. The first node 10 sets the first flag 11 and the second flag 12 during this processing operation. Further, in the present embodiment, it is assumed that 1 is set in the first flag 11 when the processing of FIG. 7 is started, and the count value of the second flag 12 is the total number of nodes 3. .

  In step S30, the power is turned on and the reset is released. The first node 10 turns on the power of its own node 10 and releases the reset of its own node 10.

  In step S31, it is determined whether an erasure request command for the node 10 has been received. When the first node 10 receives the erase request command, the first node 10 determines whether or not the erase request command to the node 10 has been received based on the ID information received together with the erase request command. If the first node 10 determines that it has received the erase request command for its own node 10, it proceeds to step S <b> 32. Proceed to The processing after step S42 will be described later.

  In step S32, it is determined whether or not the second flag 12 = the total number of nodes to be rewritten. The first node 10 proceeds to step S33 when it is determined that the count value of the second flag 12 is 3, and proceeds to step S41 when it is not determined that the count value of the second flag 12 is 3. As described above, the count value of the second flag 12 is 3 when the processing of FIG. Therefore, the first node 10 can be regarded as the first node 10 rewriting in the case of YES determination, and the first node 10 can be regarded as the second node or later rewriting in the case of NO determination.

  In step S41, the first flag 11 = NG and the second flag 12 = N. When the first node 10 receives the erase request command and considers that the node 10 will be rewritten after the second, the first node 10 sets the first flag 11 to 0 and sets the count value of the second flag 12 to the previous value. Hold on. That is, the first node 10 does not update the first flag 11 and the second flag 12 when the node 10 rewrites after the second.

  On the other hand, in step S33, the first flag 11 = NG and the second flag 12 = 0. That is, when the first node 10 receives the erase request command and first considers that the own node 10 performs rewriting, it resets the first flag 11, that is, sets the first flag 11 to 0, 2 The count value of the flag 12 is reset. Thus, the first node 10 initializes the count value when it first receives an erase request command for any of the plurality of nodes 10-30.

  The first node 10 counts that the rewriting of the control program has been completed in the own node 10 and that the completion information has been acquired from the other nodes 20 and 30, and stores it as the count value of the second flag 12. For this reason, the first node 10 can confirm the progress of rewriting in all the nodes 10 to 30 by initializing the count value when the erase request command is first received. The completion information will be described later.

  As shown in FIG. 10, when the first node 10 receives the erase request command, the first node 10 resets the first flag 11 and the second flag 12, erases the control program, and transmits ACK to the rewriting tool 400. To do. After that, as shown in FIG. 10, the first node 10 returns an ACK when receiving a rewrite request command from the rewrite tool 400 and receives new control program data from the rewrite tool 400. This data is data for rewriting the control program.

  In step S34, the own node is rewritten. The first node 10 writes the received new control program data in the rewrite area of the ROM 14 (rewrite process).

  In step S35, it is determined whether rewriting of the own node is completed. The first node 10 proceeds to step S36 when determining that the rewriting of the own node 10 is completed, and repeats step S35 when determining that the rewriting of the own node 10 is not completed. That is, the first node 10 repeats the determination in step S35 until the writing of a new control program is completed. As illustrated in FIG. 10, the first node 10 transmits an ACK to the rewriting tool 400 when receiving the rewriting process, and receives a verify request command from the rewriting tool 400.

  In step S36, the first flag 11 = OK and the second flag 12 = + 1. That is, the first node 10 sets the first flag 11 to 1 and increments the count value of the second flag 12 when the rewriting of the own node 10 is completed. Thereafter, in step S37, a response (ACK) to the verify request command to the node 10 is transmitted to the rewriting tool 400.

  In step S38, a second flag setting completion notification is transmitted to the rewriting tool 400 (individual notification unit). That is, the first node 10 notifies the rewriting tool 400 that the rewriting of the control program is completed when the rewriting is completed in the own node 10. Further, the first node 10 notifies the rewriting tool 400 that the rewriting is completed each time an ACK for the verify request command is acquired from each of the other nodes 20 and 30. That is, the first node 10 transmits a completion notification to the rewriting tool 400 every time the setting of the second flag 12 is completed, that is, every time when the count value is counted up in the second flag 12. The ACK for the verify request command transmitted from each of the other nodes 20 and 30 is information indicating that the rewriting of the control program is completed, and corresponds to the completion information.

  Thus, since the first node 10 notifies the rewriting tool 400 of completion every time rewriting at each of the nodes 10 to 30 is completed, the rewriting tool 400 can grasp the rewriting status. That is, the rewriting tool 400 can grasp the progress of rewriting in each of the nodes 10 to 30 based on the notification of completion from the first node 10, and can easily distinguish between the rewriting completed node and the incomplete node.

  In step S39, it is determined whether or not the total number of nodes to be rewritten is the value of the second flag. The first node 10 determines whether the count value of the second flag 12 is 3 as in step S32. When the first node 10 determines that the count value of the second flag 12 is 3, the process proceeds to step S40. When the first node 10 does not determine that the count value of the second flag 12 is 3, the process proceeds to step S31. Return.

  In step S40, it is determined whether or not the power is off. If the first node 10 does not determine that the power is off, the process returns to step S31. If it is determined that the power is off, the process of FIG. 7 ends.

  Here, the process after step S42 is demonstrated using the flowchart of FIG.

  In step S42, it is determined whether or not an erase request command to the other nodes 20 and 30 has been received. When receiving the erase request command, the first node 10 determines whether or not the erase request command to the other nodes 20 and 30 has been received based on the ID information received together with the erase request command. If the first node 10 determines that it has received the erase request command to the other nodes 20 and 30, the process proceeds to step S43. If it is not determined that the erase request command to the other nodes 20 and 30 has been received, the first node 10 Repeat S42.

  In step S43, it is determined whether or not the second flag 12 = the total number of rewrite target nodes. The first node 10 proceeds to step S44 when it is determined that the count value of the second flag 12 is 3, and proceeds to step S47 when it is not determined that the count value of the second flag 12 is 3. As described above, the count value of the second flag 12 is 3 when the processing of FIG. Therefore, the first node 10 can be considered that the other nodes 20 and 30 first perform rewriting when the determination is YES, and the other nodes 20 and 30 perform rewriting after the second when the determination is NO. Can be considered.

  In step S44, the first flag 11 = OK and the second flag 12 = 0. That is, the first node 10 receives the erase request command and resets the count value of the second flag 12 when the other nodes 20 and 30 first consider rewriting. Thus, the first node 10 initializes the count value when it first receives an erase request command for any of the plurality of nodes 10-30. Therefore, the first node 10 can confirm the progress of rewriting in all the nodes 10 to 30 by initializing the count value when the erase request command is first received. However, the first node 10 does not reset the first flag 11 because the received erase request command is not a request for the node 10 itself.

  On the other hand, in step S47, the first flag 11 = OK and the second flag 12 = N. When the first node 10 receives the erase request command and considers that the other nodes 20 and 30 perform rewriting after the second, the first node 10 sets the count value of the second flag 12 without resetting to the first flag 11. Keep the previous value. That is, the first node 10 does not update the first flag 11 and the second flag 12 when the other nodes 20 and 30 perform rewriting after the second.

  In step S45, it is determined whether or not rewriting of another node is completed. If it is determined that the rewriting of the other nodes 20 and 30 has been completed, the first node 10 proceeds to step S46. If it is not determined that the rewriting of the other nodes 20 and 30 has been completed, the first node 10 repeats step S45.

  That is, when the first node 10 has received the erase request command to the second node 20 and has received an ACK for the verify request command from the second node 20, the rewriting at the second node 20 has been completed. And the process proceeds to step S46. Further, when the first node 10 has received the erase request command to the second node 20 and has not received an ACK for the verify request command from the second node 20, the rewriting at the second node 20 is not performed. Step S45 is repeated without determining that the process has been completed.

  Similarly, when the first node 10 has received an erase request command to the third node 30 and has received an ACK for the verify request command from the third node 30, the rewriting at the third node 30 is complete. The process proceeds to step S46. Further, when the first node 10 has received the erase request command to the third node 30 and has not received an ACK for the verify request command from the third node 30, the rewriting at the third node 30 is not performed. Step S45 is repeated without completing.

  In step S46, the first flag 11 = OK and the second flag 12 = N + 1. When the first node 10 determines that the rewriting in the other nodes 20 and 30 has been completed, the first node 10 counts up the count value of the second flag 12. That is, the first node 10 counts up the count value of the second flag 12 when it is determined that the rewriting at the second node 20 is completed and when it is determined that the rewriting at the third node 30 is completed. . However, the first node 10 does not update the first flag 11 because it is not a rewrite in the own node 10.

  Next, the processing operation when rewriting the control program in the second node 20 will be described with reference to FIG. For example, when the ignition switch is turned on, the second node 20 executes the flowchart of FIG. FIG. 9 shows the processing operation in the repro mode in the second node 20. When the processing operation shown in FIG. 9 is performed, the execution mode of the second node 20 is the reprolog mode. More specifically, the second node 20 transmits an erase request command after shifting to the replog mode, for example. The second node 20 sets the first flag 21 during this processing operation. In the present embodiment, it is assumed that 1 is set in the first flag 21 when the processing of FIG. 9 is started.

  In step S50, the power is turned on and the reset is released. The second node 20 turns on the power of the own node 20 and cancels the reset of the own node 20.

  In step S51, it is determined whether an erasure request command for the node 20 has been received. When receiving the erase request command, the second node 20 determines whether or not the erase request command for the node 20 has been received based on the ID information received together with the erase request command. If the second node 20 determines that it has received the erase request command for its own node 20, the process proceeds to step S52. If the second node 20 does not determine that it has received the erase request command for its own node 20, it repeats step S51.

  In step S52, the first flag 21 = NG. That is, when the second node 20 receives the erasure request command and considers that the node 20 performs rewriting, the second node 20 resets the first flag 21, that is, sets the first flag 21 to 0.

  As shown in FIG. 10, when receiving the erase request command, the second node 20 resets the first flag 21, erases the control program, and transmits ACK to the rewriting tool 400. Thereafter, as shown in FIG. 10, when the second node 20 receives a rewrite request command from the rewriting tool 400, it returns an ACK and receives new control program data from the rewriting tool 400. This data is data for rewriting the control program.

  In step S53, the own node is rewritten. The second node 20 writes the received new control program data in the rewrite area of the ROM 14 (rewrite process).

  In step S54, it is determined whether or not rewriting of the own node is completed. The second node 20 proceeds to step S55 when determining that the rewriting of the own node 20 has been completed, and repeats step S54 when not determining that the rewriting of the own node 20 has been completed. That is, the second node 20 repeats the determination in step S54 until the writing of a new control program is completed. As illustrated in FIG. 10, the second node 20 transmits an ACK to the rewriting tool 400 and receives a verify request command from the rewriting tool 400 when the rewriting process is completed.

  In step S55, the first flag 21 = OK. That is, the second node 20 sets 1 to the first flag 21 when the rewriting of the own node 10 is completed. Thereafter, in step S56, a response (ACK) to the verify request command to the node 20 is transmitted to the rewriting tool 400.

  In step S57, it is determined whether the power is off. If the second node 20 does not determine that the power is off, the process returns to step S50. If the second node 20 determines that the power is off, the process of FIG. 9 ends. The processing operation of the third node 30 is the same as that of the second node 20 as described above and shown in FIG.

  As described above, the first node 10 determines whether all the nodes 10 to 30 have completed rewriting of the control program. That is, the first node 10 determines whether not only the own node 10 but also the other nodes 20 and 30 have rewritten the control program.

  When the first node 10 determines that all the nodes 10 to 30 have completed rewriting of the control program, the first node 10 determines the execution mode as the control mode. Therefore, the first node 10 determines the execution mode of the own node 10 as the control mode when all the nodes 10 to 30 are the new program or the new program.

  On the other hand, if the first node 10 does not determine that all the nodes 10 to 30 have completed rewriting of the control program, that is, if at least one node has not completed rewriting of the control program, Is set to replog mode. Therefore, the first node 10 determines the execution mode of its own node 10 as the reprogress mode when the nodes of the new program and the node of the old program are mixed in the plurality of nodes 10 to 30. For this reason, the first node 10 can suppress the control in the control system from being executed by the in-vehicle control system 100 in which the nodes of the new program and the old program are mixed.

  Moreover, since the 1st node 10 can determine whether rewriting is completed in all the nodes 10-30 in the vehicle-mounted control system 100, it can ensure completion of rewriting of all the nodes 10-30 in the unit of the vehicle-mounted control system 100. It can also be said. Furthermore, since the in-vehicle control system 100 includes the first node 10, it can be said that control in the control system can be suppressed in a state where the nodes of the new program and the node of the old program are mixed.

  The in-vehicle control system 100 may include four or more nodes including the first node 10 or may include two nodes including the first node 10. That is, the in-vehicle control system 100 only needs to include a plurality of nodes including the first node 10.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. Below, 2nd Embodiment-7th Embodiment are described as another form of this invention. Each of the above-described embodiments and the following embodiments can be implemented independently, but can also be implemented in combination as appropriate. The present invention is not limited to the combinations shown in the embodiments, and can be implemented by various combinations.

(Second Embodiment)
The first node 10 according to the second embodiment will be described with reference to FIG. Here, the points of the second embodiment different from the first embodiment will be mainly described. In the present embodiment, the same reference numerals as those in the above embodiment are used for convenience.

  The first node 10 of the second embodiment confirms both the value of the first flag 11 and the count value of the second flag 12, and determines whether or not rewriting has been completed in all the nodes 10 to 30. The point is different from the above embodiment.

  For example, when the ignition switch is turned on, the first node 10 of the second embodiment executes the flowchart of FIG.

  In step S11, it is determined whether or not the first flag 11 = OK (determination unit, individual determination unit). The first node 10 checks the stored contents of the first flag 11 and determines whether or not the first flag 11 is OK, that is, whether or not the rewriting in the own node 10 is completed. When the first flag 11 is 1, the first node 10 regards the first flag 11 = OK, that is, the rewriting is completed, and proceeds to step S12a. Further, when the first flag 11 is 0, the first node 10 considers that the first flag 11 is not OK, that is, rewriting has not been completed, and proceeds to step S14.

  In step S12a, it is determined whether or not the second flag 12 = the number of other rewriting target nodes. The first node 10 checks the stored contents of the second flag 12 and determines whether or not the second flag 12 = the number of other rewriting target nodes. Here, the other rewriting target nodes are the second node 20 and the third node 30 excluding the first node 10 among a plurality of nodes included in the in-vehicle control system. Therefore, the total number of rewrite target nodes is two.

  When the count value of the second flag 12 is 2, the first node 10 assumes that the second flag = the number of other rewriting target nodes and that the rewriting has been completed in the other rewriting target nodes 20, 30. Proceed to S13. As described above, when the count value of the second flag 12 matches the number of the other nodes 20 and 30 and the value of the first flag 11 is 1, the first node 10 It is determined that rewriting has been completed (determination unit, overall determination unit).

  On the other hand, when the count value of the second flag 12 is not 2, the first node 10 is not the second flag = the number of other rewriting target nodes, that is, the rewriting is performed on at least one of the other rewriting target nodes 20 and 30. The process proceeds to step S14 assuming that it has not been completed.

  Thus, the 1st node 10 of 2nd Embodiment can have the same effect as the above-mentioned embodiment. Further, the first node 10 of the second embodiment can determine whether or not the rewriting of the own node 10 has been completed based on the value of the first flag 11. Therefore, the first node 10 does not need to count the completion of rewriting of the own node 10 as long as the rewriting of the other nodes 20 and 30 is completed. Then, the first node 10 can determine whether or not the rewriting has been completed in all the nodes 10 to 30 by checking the first flag 11 and the second flag 12.

(Third embodiment)
The first node 10 according to the third embodiment will be described with reference to FIG. Here, the points of the third embodiment that are different from the first and second embodiments will be mainly described. In the present embodiment, the same reference numerals as those in the above embodiment are used for convenience.

  The first node 10 of the third embodiment confirms both the value of the first flag 11 and the information of the second flag 12, and determines whether or not rewriting has been completed in all the nodes 10 to 30. Is different from the above embodiment. Further, the first node 10 of the third embodiment stores information indicating whether or not the rewriting has been completed corresponding to each of the other nodes 20 and 30. Hereinafter, information corresponding to the second node 20 is referred to as second node information, and information corresponding to the third node 30 is referred to as third node information.

  When the first node 10 of the third embodiment determines that the rewriting at the second node 20 has been completed, the first node 10 updates the second node information to the completion of rewriting. Similarly, if the first node 10 of the third embodiment determines that the rewriting at the third node 30 has been completed, the first node 10 updates the third node information to the completion of rewriting.

  And the 1st node 10 of 3rd Embodiment performs the flowchart of FIG. 13, for example, when an ignition switch turns on.

  In step S12b, the second node information and the third node information are confirmed, and it is determined whether or not rewriting of the other rewriting target node is completed. The other rewriting target nodes are the second node 20 and the third node 30 as in the second embodiment.

  When both the second node information and the third node information indicate completion of rewriting, the first node 10 regards that rewriting has been completed in the other rewriting target nodes 20 and 30, and proceeds to step S13. Thus, in the first node 10, when both the second node information and the third node information indicate that the rewriting is completed and the value of the first flag 11 is 1, all the nodes 10 to 30 are rewritten. Is determined to have been completed (determination unit, overall determination unit).

  On the other hand, if at least one of the second node information and the third node information does not indicate the completion of rewriting, the first node 10 determines that rewriting has not been completed in at least one of the other rewriting target nodes 20 and 30. Accordingly, the process proceeds to step S14. The first node 10 of the third embodiment can achieve the same effects as the above embodiment. Also, by having the first node information to the third node information corresponding to each of the nodes 10 to 30, the rewrite status of each of the nodes 10 to 30 can be managed individually.

(Fourth embodiment)
The first node 10 according to the fourth embodiment will be described with reference to FIGS. 14 and 15. Here, the points different from the first to third embodiments in the fourth embodiment will be mainly described. In the present embodiment, for convenience, the same reference numerals as in the above embodiment may be used.

  The first node 10 of the fourth embodiment is included in the in-vehicle control system 110 together with the third node 30 connected to the second communication bus 220 different from the first communication bus 210 to which the own node 10 is connected. This is different from the above embodiment.

  The plurality of nodes 10 to 30 included in the in-vehicle control system 110 include nodes connected to different communication buses 210 and 220. That is, the first node 10 and the second node 20 are connected to the first communication bus 210. On the other hand, the third node 30 is connected to the second communication bus 220. It can be said that the third node 30 is connected to the second communication bus 220 in a different domain from the first node 10 and the second node 20.

  The first communication bus 210 and the second communication bus 220 are connected to the relay node 300. The first node 10 and the third node 30 and the second node 20 and the third node 30 are configured to be able to communicate via the relay node 300. Thus, the in-vehicle control system 110 is configured such that nodes connected to different communication buses 210 and 220 can communicate with each other via the relay node 300.

  The relay node 300 stores relay ID information 310. The relay ID information is ID information indicating the nodes 10 to 20. In communication via the relay node 300, for example, relay frame information as shown in FIG. 15 is used.

  Therefore, the first node 10 can acquire not only the completion information from the second node 20 via the first communication bus 210 but also the completion information from the third node 30 via the relay node 300. It is configured. That is, the first node 10 receives each request command and ACK to the other node transmitted from the relay node 300 according to the relay ID information, and sets the second flag 12. The first node 10 determines completion of rewriting of all the nodes 10 to 30 by any of the methods described in the first embodiment, the second embodiment, or the third embodiment. The request command is an erase request command, a rewrite request command, a verify request command, or the like.

  The first node 10 of the fourth embodiment can achieve the same effects as the above embodiment. That is, the first node 10 of the fourth embodiment is the same as that of the above embodiment even if the third node 30 included in the in-vehicle control system 110 is connected to the second communication bus 220 different from the own node 10. Similar effects can be achieved.

(Fifth embodiment)
The first node 10a of the fifth embodiment will be described with reference to FIGS. Here, a description will be given mainly of the parts of the fifth embodiment different from the first to fourth embodiments. In the present embodiment, for convenience, the same reference numerals as in the above embodiment may be used.

  The first node 10a is different from the first node 10 in that it is not included in the in-vehicle control system 120. The first node 10 a is different from the first node 10 in that the execution mode of the plurality of nodes 20 to 40 included in the in-vehicle control system 120 is determined.

  The in-vehicle control system 120 includes a second node 20 to a fourth node 40 connected to the communication bus 200. The fourth node 40 is the same as the second node 20 and the third node 30, and is configured to include a first flag 41 in its own node 40.

  Although the first node 10 a is connected to the communication bus 200, it is not included in the in-vehicle control system 120. Similar to the first node 10, the first node 10a is configured to be able to acquire completion information transmitted from the other nodes 20-40. Then, the first node 10a counts up the count value of the second flag 12 every time the completion information is acquired in order to determine whether or not the rewriting in the other nodes 20 to 40 has been completed, and performs in-vehicle control. The number of nodes included in the system 120 is stored. The number of nodes in this embodiment is three. Unlike the first node 10, the first node 10 a does not have to include the first flag 11.

  For example, when the ignition switch is turned on, the first node 10a executes the flowchart of FIG.

  In step S12c, it is determined whether or not rewriting has been completed in all rewriting target nodes (determination unit). Here, there are three nodes to be rewritten: the second node 20 to the fourth node 40 included in the in-vehicle control system 120. The first node 10a checks the count value of the second flag 12, and determines whether or not rewriting has been completed in all rewriting target nodes. As described above, the first node 10a has completed rewriting of all of the plurality of nodes 20 to 40 based on the completion information acquired from each of the plurality of nodes 20 to 40 included in the in-vehicle control system 120. It is determined whether or not.

  If the first node 10 determines that the count value of the second flag 12 is 3, the first node 10 regards that all the rewriting target nodes 20 to 40 have been rewritten, and proceeds to step S13a. On the other hand, if the first node 10 does not determine that the count value of the second flag 12 is 3, the first node 10 assumes that rewriting has not been completed in at least one of all the rewriting target nodes 20 to 40. Proceed to S14a.

  Note that, as in the third embodiment, the first node 10 stores information on whether or not rewriting corresponding to each of the other nodes 20 to 40 has been completed, confirms the information, and rewrites the target node. It may be determined whether or not the rewriting has been completed.

  In step S13a, the control program execution mode is determined. At this time, the first node 10a determines the execution mode of the plurality of nodes 20 to 40 included in the in-vehicle control system 120 as the control mode. That is, the first node 10a determines the execution mode of the plurality of nodes 20 to 40 in the in-vehicle control system 120 that does not include the own node 10a as the control mode. Therefore, the first node 10a instructs at least one of the plurality of nodes 20 to 40 to set the execution mode to the control mode. As described above, when the first node 10a determines that rewriting has been completed in all of the plurality of nodes 20 to 40 included in the in-vehicle control system 120, the first node 10a controls the execution mode of the plurality of nodes 20 to 40. It can be said that the mode is decided.

  In step S14a, the repro program execution mode is determined. At this time, the first node 10a determines the execution mode of the plurality of nodes 20 to 40 included in the in-vehicle control system 120 as the reprogress mode. That is, the first node 10a determines the execution mode of the plurality of nodes 20 to 40 in the in-vehicle control system 120 that does not include the own node 10a as the re-progress mode. Therefore, the first node 10a instructs at least one of the plurality of nodes 20 to 40 to set the execution mode to the reprogress mode. Thus, when the first node 10a determines that rewriting has not been completed in at least one of the plurality of nodes 20 to 40 included in the in-vehicle control system 120, the execution mode of the plurality of nodes 20 to 40 is determined. It can be said that is determined to the re-prog mode.

  Thus, even if the first node 10a does not belong to the in-vehicle control system 120, the same effect as the first node 10 can be obtained. In addition, the in-vehicle network including the first node 10a and the in-vehicle control system 120 can improve the design flexibility because the first node 10a not belonging to the in-vehicle control system 120 can determine the execution mode of the in-vehicle control system 120. .

(Sixth embodiment)
A vehicle-mounted network according to the sixth embodiment will be described. Here, the points different from the first to fifth embodiments in the sixth embodiment will be mainly described. In the present embodiment, for convenience, the same reference numerals as in the above embodiment may be used.

  Similar to the first embodiment, the in-vehicle network according to the sixth embodiment includes an in-vehicle control system 100 including a plurality of nodes 10 to 30. However, in the in-vehicle network of the sixth embodiment, mainly, the second node 20 and the third node 30 determine completion of rewriting in the same manner as the first node 10, and all the nodes 10 to 30 are in the rewriting tool 400. The difference from the first embodiment is that notification of rewriting completion is performed.

  Each of the plurality of nodes 10 to 30 determines whether or not rewriting is completed in all the nodes 10 to 30 (determination unit). That is, like the first node 10, the second node 20 and the third node 30 determine whether or not rewriting has been completed in all the nodes 10 to 30.

  Each of the plurality of nodes 10 to 30 determines the execution mode as the control mode when it is determined that all the nodes 10 to 30 have been rewritten (decision unit). That is, like the first node 10, the second node 20 and the third node 30 determine the execution mode of their own node as the control mode when it is determined that all the nodes 10 to 30 have been rewritten.

  Further, each of the plurality of nodes 10 to 30 is executed when it is determined that all the nodes 10 to 30 have not been rewritten, that is, when at least one node has not been rewritten. The mode is determined as the re-progress mode (decision unit). That is, like the first node 10, the second node 20 and the third node 30 determine that their own execution mode is the reprogress mode when it is determined that at least one node has not been rewritten.

  Furthermore, when the execution mode is determined as the control mode, each of the plurality of nodes 10 to 30 notifies the rewriting tool 400 that the rewriting has been completed in all the nodes 10 to 30 (completion notification unit). ). That is, the second node 20 and the third node 30, like the first node 10, each time when rewriting is completed at the own node and every time an ACK for the verify request command is acquired from each of the other nodes. The rewriting tool 400 is notified that the rewriting has been completed. As a result, the rewriting tool 400 can confirm whether or not the regular node is connected sequentially by confirming whether the second flag setting completion notification has been received from all the nodes 10 to 30. is there.

  Each of the nodes 10 to 30 may determine completion of rewriting of all the nodes 10 to 30 by any of the methods described in the first embodiment, the second embodiment, or the third embodiment. Moreover, the vehicle-mounted network may be comprised including the vehicle-mounted control system 110 containing the relay node 300 and the some nodes 10-30 similarly to 4th Embodiment.

  Each of the nodes 10 to 30 can achieve the same effect as the first node 10. Therefore, the in-vehicle network according to the sixth embodiment can suppress the control in the control system from being executed in a state where the nodes of the new program and the nodes of the old program are mixed.

(Seventh embodiment)
A vehicle-mounted network according to the seventh embodiment will be described with reference to FIG. Here, a description will be given mainly of the differences of the seventh embodiment from the first to sixth embodiments. In the present embodiment, for convenience, the same reference numerals as in the above embodiment may be used.

  In the present embodiment, an in-vehicle network including a plurality of in-vehicle control systems 100 and 130 is employed. Therefore, the vehicle-mounted network of 7th Embodiment differs from the said embodiment by the point provided with the 1st vehicle-mounted control system 100 and the 2nd vehicle-mounted control system 130. FIG. In this embodiment, in order to distinguish a some vehicle-mounted control system, it calls the 1st vehicle-mounted control system 100 and the 2nd vehicle-mounted control system 130. FIG. In addition, the 1st vehicle-mounted control system 100 is the same as the vehicle-mounted control system 100 of the said embodiment. The first communication bus 210 is the same as the communication bus 200 of the above embodiment. This invention is not limited to this, Even if it is a vehicle-mounted network containing three or more vehicle-mounted control systems, it is employable.

  The second in-vehicle control system 130 includes a fifth node 50, a sixth node 60, and a seventh node 70 connected to the second communication bus 220. Therefore, the fifth node 50, the sixth node 60, and the seventh node 70 can be said to be nodes included in the same in-vehicle control system 130. As with the first node 10 to the third node 30, each of the nodes 50 to 70 has a control mode and a reprogress mode as execution modes. In the second in-vehicle control system 130, the nodes 50 to 70 perform control in cooperation with each other in the control mode.

  Similar to the first node 10, the fifth node 50 includes a first flag 51 and a second flag 52. The fifth node 50 can be said to be a master node in the second in-vehicle control system 130.

  The fifth node 50 determines whether or not the rewriting has been completed in all the nodes 50 to 70 in the second in-vehicle control system 130 (determination unit). And when it determines with all the nodes 50-70 in the 2nd vehicle-mounted control system 130 having completed rewriting, the 5th node 50 determines an execution mode to a control mode (decision part). The fifth node 50 determines that all the nodes 50 to 70 in the second in-vehicle control system 130 have not been rewritten, that is, at least one node has not been rewritten. In this case, the execution mode is determined to the reprogress mode (decision unit).

  Similar to the second node 20, the sixth node 60 includes a first flag 61. Further, like the third node 30, the seventh node 70 includes a first flag 71. The sixth node 60 and the seventh node 70 can be said to be slave nodes in the second in-vehicle control system 130.

  The first communication bus 210 and the second communication bus 220 are connected to the relay node 300 as in the fourth embodiment. Therefore, the first in-vehicle control system 100 and the second in-vehicle control system 130 are configured to be communicable via the relay node 300.

  The first node 10 can achieve the same effects as in the above embodiment. Further, the fifth node 50 can achieve the same effect as the first node 10. Furthermore, the vehicle-mounted network of the seventh embodiment can suppress the control in the control system from being executed in a state where the nodes of the new program and the nodes of the old program are mixed. Similarly, the in-vehicle network of the seventh embodiment can suppress the control in the control system from being executed in a state where the nodes of the new program and the nodes of the old program are mixed.

  DESCRIPTION OF SYMBOLS 100-130 ... Vehicle-mounted control system, 200 ... Communication bus, 210 ... 1st communication bus, 220 ... 2nd communication bus, 300 ... Relay node, 310 ... Relay ID information, 400 ... Rewriting tool, 10-70, 10a ... 1st 1st node to 7th node, 11 ... 1st flag, 12 ... 2nd flag, 21 ... 1st flag, 31 ... 1st flag, 13 ... CPU, 14 ... ROM, 15 ... RAM, 16 ... Data transceiver

Claims (10)

A plurality of nodes having an execution mode of a control mode for executing control by executing a control program and a reprogram mode for executing reprogram without rewriting based on the control program and rewriting the control program ( 10 to 40, 10a), and an in-vehicle control device that determines the execution mode of the node in an in-vehicle control system (100, 110, 120, 130) in which each node performs control in cooperation with the control mode. And
A determination unit (S11, S12, S12a to S12c) that determines whether all of the plurality of nodes have completed rewriting of the control program;
When the determination unit determines that all the nodes have completed rewriting of the control program, the execution mode is determined to be the control mode, and all the nodes have completed rewriting of the control program. And a determination unit (S13, S14, S13a, S14a) that determines the execution mode as the re-progress mode when the determination unit does not determine. The vehicle-mounted control device that is one of the plurality of nodes included in the vehicle-mounted control system,
The determination unit (S11, S12, S12a, S12b) has completed rewriting of the control program in its own node and has rewritten the control program acquired from each of the other nodes. The in-vehicle control device according to claim 1, wherein all of the plurality of nodes determine whether or not rewriting of the control program has been completed based on completion information indicating   The determination unit (S12), when the count value obtained by counting that the rewriting of the control program has been completed and acquiring the completion information in its own node, and the number of the plurality of nodes match, The in-vehicle control device according to claim 2, wherein all of the plurality of nodes determine that rewriting of the control program has been completed. The determination unit
An individual determination unit (S11) for determining whether or not rewriting of the control program in the in-vehicle control device is completed;
The count value obtained by counting completion information indicating that the rewriting of the control program acquired from each of the other nodes is complete matches the number of the other nodes, and the individual determination unit executes the control program. The overall determination unit (S12a), which determines that all of the plurality of nodes have completed rewriting of the control program when it is determined that rewriting has been completed. In-vehicle control device. After receiving an erasure request command requesting erasure of the control program from a rewriting device, the control program rewrite data is received, and the control program is rewritten,
The in-vehicle control device according to claim 3 or 4, wherein the count value is initialized when the erase request command for any of the plurality of nodes is first received. Receiving data for rewriting the control program from a rewriting device, rewriting the control program,
When the rewriting of the control program is completed in its own node, and whenever the completion information is acquired from each of the other nodes, the rewriting device is notified that the rewriting of the control program is completed. The vehicle-mounted control apparatus as described in any one of Claim 2 or 5 provided with the separate notification part (S38). The plurality of nodes included in the in-vehicle control system (110) includes the nodes connected to different communication buses, and the nodes connected to the different communication buses serve as relay nodes (300). Configured to be able to communicate via
The vehicle-mounted control apparatus as described in any one of Claims 2 thru | or 6 comprised so that the said completion information can be acquired via the said relay node. The in-vehicle control device not included in the in-vehicle control system (120),
The determination unit (S12c)
Based on the completion information indicating that rewriting of the control program acquired from each of the plurality of nodes included in the in-vehicle control system is completed, all of the plurality of nodes rewrite the control program. Determines whether or not
The determination unit (S13a, S14a)
When the determination unit determines that all the nodes have completed rewriting of the control program, the execution mode of the plurality of nodes included in the in-vehicle control system is determined as the control mode, and all The execution mode of the plurality of nodes included in the in-vehicle control system is determined to be the re-progress mode when the determination unit does not determine that the node has completed rewriting of the control program. The in-vehicle control device according to Item 1. An in-vehicle control device having an execution mode of a control mode for executing control by executing a control program and a re-progress mode for executing re-program without executing control based on the control program and rewriting the control program An in-vehicle network including an in-vehicle control system that includes a plurality of nodes, and that each node performs control in cooperation with the control mode, and each of the plurality of nodes is configured to be able to communicate with a rewriting device that rewrites the control program. There,
Each of the plurality of nodes is
A determination unit (S11, S12, S12a, S12b) for determining whether or not rewriting of the control program has been completed by all of the plurality of nodes;
When the determination unit determines that all the nodes have completed rewriting of the control program, the execution mode is determined to be the control mode, and all the nodes have completed rewriting of the control program. When the determination unit does not determine, a determination unit (S13, S14) that determines the execution mode to the reprogress mode,
A completion notifying unit for notifying the rewriting device that all of the nodes have completed rewriting of the control program when the determining unit determines the execution mode to be the control mode; In-vehicle network including in-vehicle control device. Including a plurality of different in-vehicle control systems (100, 130),
Each of the plurality of in-vehicle control systems is
An in-vehicle control device having an execution mode of a control mode for executing control by executing a control program and a re-progress mode for executing re-program without executing control based on the control program and rewriting the control program Including a plurality of nodes (10 to 30, 50 to 70), each node performing control in cooperation with the control mode,
The in-vehicle control device, which is at least one node in each in-vehicle control system,
A determination unit (S11, S12, S12a, S12b) that determines whether all of the plurality of nodes included in the same in-vehicle control system as the in-vehicle control device have completed rewriting of the control program;
When the determination unit determines that all the nodes have completed rewriting of the control program, the execution mode is determined to be the control mode, and all the nodes have completed rewriting of the control program. And a determination unit (S13, S14) that determines the execution mode as the re-progress mode when the determination unit does not determine, an in-vehicle network including an in-vehicle control device.

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