JP4964257B2 - Network system - Google Patents

Description

  In order for a plurality of electronic control devices that communicate synchronously via a network to perform communication according to a communication schedule according to the state of the network system, the communication parameters of each electronic control device are transmitted via the network. The present invention relates to a network system that can be changed.

  Cars and ships are controlled by an electronic control device (hereinafter referred to as ECU). In order to cooperate between a plurality of ECUs and control a car or a ship, it is necessary to share information such as the state of a control target between the ECUs. Therefore, the ECUs are connected by a network, and information is transmitted and received as messages on the network.

  Message transmission / reception is performed in accordance with a communication standard unified between ECUs. One of these communication standards is a time division multiplexing system in which all ECUs synchronize with the common time of the network system and transmit and receive messages with a common communication schedule.

  An example of a time division multiplexing communication standard is FlexRay (see www.flexray.com). In FlexRay, as shown in FIG. 1, messages are transmitted and received by repeating a fixed-time communication cycle composed of a static segment, a dynamic segment, NIT (network idle time), and the like. The static segment and the dynamic segment are further divided into slots, and assigned to a specific ECU as a transmission area for one message. In addition, the reception designates the slot ID of a message that each ECU wishes to receive.

  The communication cycle, segment, slot length, and the like need to be set so that the communication schedule takes into account the number of messages and the purpose of use. These communication cycles, segments, slot lengths, and the like are collectively referred to as communication parameters. Each ECU performs communication according to a preset communication parameter value.

  In FlexRay, communication parameters are classified into global communication parameters and local communication parameters. The global communication parameter is a communication parameter for fixing a communication schedule such as the communication cycle, segment, and slot length described above. Therefore, the global communication parameter must be set to the same value in all ECUs that perform communication. On the other hand, the local communication parameters are communication parameters that are set depending on the operating frequency of the CPU mounted on the ECU so as to have a desired communication schedule and have different values for each ECU.

  FIG. 2 shows an example of global communication parameters and local communication parameters. Communication parameters with g prefixed are global communication parameters, and communication parameters with p prefixed are local communication parameters. Since each communication parameter is defined in the FlexRay specification, a detailed description is not given here. There are about 25 global communication parameters and local communication parameters. In order to perform communication, all these communication parameters suitable for the communication schedule must be set in each ECU.

  In Patent Document 1, assuming that an ECU is added to a FlexRay network system in communication, communication parameters are periodically transmitted from a specific ECU in the network system, and the added ECU receives this value. And how to set it again.

JP 2008-236217 A

  However, the above-described Patent Document 1 is intended to enable the added ECU to transmit and receive messages on a network system that is already in communication. Therefore, the communication parameters that are periodically transmitted are communication parameters that constitute the current communication schedule, and the current communication schedule is not changed. Therefore, there is a problem that it is not possible to change to a communication schedule suitable for the state of the network system.

  Furthermore, since a specific ECU continues to periodically transmit communication parameters, there is a problem in that it becomes unnecessary information when the ECU is not added, and the communication load of the network increases.

  The present invention has been made to solve the above-described problem, and a plurality of ECUs that communicate synchronously via a network communicate with each other according to a communication schedule according to the state of the network system. The present invention relates to a network system capable of changing communication parameters of an ECU via a network.

In order to solve the above-described problem, a network system according to the present invention includes a plurality of electronic control devices connected by communication lines, the plurality of electronic control devices having one or more communication parameters, and at least one of the communication parameters, by setting the common value in the plurality of electronic control units, and a communication schedule to be the common communication specification by the plurality of electronic control units, the plurality of electronic control devices, in the communication schedule synchronization then, the transmission and reception area, each assigned an electronic control device, a network system of time-division multiplex system for transmitting and receiving information, the electronic control unit, the time domain for transmission and reception by dividing the communication schedule into a predetermined number If a new communication parameter is received in the reception area allocated to the electronic control unit, the new Based on the communication parameters, the electronic control device re-synchronized to a common said new communication schedule, in reception areas, each assigned to the electronic control unit, and wherein the transmitting and receiving information.

  According to the present invention, in order for a plurality of ECUs that communicate synchronously via a network to communicate according to a communication schedule according to the state of the network system, the communication parameters of each ECU are changed via the network. There is an effect that it becomes possible.

It is a figure which shows the example of a communication schedule of the time division multiplexing system FlexRay which is background art of this invention. It is a figure which shows the example of a communication parameter which comprises the communication schedule of the time division multiplexing system FlexRay which is the background art of this invention. 1 is a configuration diagram of a ship network system in Embodiment 1. FIG. It is a communication schedule block diagram before changing a communication schedule in Embodiment 1 to which this invention is applied. It is a communication schedule block diagram after changing a communication schedule into a new communication schedule in Embodiment 1 to which this invention is applied. It is a block diagram of the ship network system which applied this invention with respect to the structure of the ship network system in Embodiment 1. FIG. The structural example of the message containing the new communication parameter for changing to the new communication schedule in Embodiment 1 to which this invention is applied is shown. It is a flowchart which shows the processing content of ECU when it receives the new communication parameter in Embodiment 1 to which this invention is applied. It is a block diagram of the vehicle-mounted network system in Embodiment 2 to which this invention is applied. It is a communication schedule block diagram before changing a communication schedule in Embodiment 2 to which this invention is applied. It is a block diagram of the message containing the engine speed information which engine ECU901 transmits in the communication schedule before changing a communication schedule in Embodiment 2 to which this invention is applied. It is a communication schedule block diagram after changing a communication schedule into a new communication schedule in Embodiment 2 to which this invention is applied. It is a block diagram of the message containing the engine speed information which engine ECU901 transmits in the communication schedule after changing a communication schedule into the new communication schedule in Embodiment 2 to which this invention is applied. It is a flowchart which shows the processing content when ABS ECU902 transmits the new communication parameter in Embodiment 2 to which this invention is applied. The structural example of the message containing the new global communication parameter for changing into the new communication schedule which ABS ECU902 transmits in Embodiment 2 to which this invention is applied is shown. It is a flowchart which shows the processing content of engine ECU901 when the new global communication parameter is received in Embodiment 2 to which this invention is applied. It is a block diagram of the network system in Embodiment 3 to which this invention is applied. It is a flowchart which shows the processing content when ECU1701 transmits a new communication parameter in Embodiment 3 to which this invention is applied. It is a block diagram of the vehicle-mounted network system in Embodiment 4 to which this invention is applied. It is a communication schedule block diagram before changing a communication schedule in Embodiment 4 to which this invention is applied. It is a communication schedule block diagram after changing a communication schedule into the new communication schedule in Embodiment 4 to which this invention is applied. It is a flowchart which shows the processing content when hybrid ECU1903 transmits the new communication parameter in Embodiment 4 to which this invention is applied. It is a communication schedule block diagram before changing a communication schedule in Embodiment 5 to which this invention is applied. It is a communication schedule block diagram after changing a communication schedule into the new communication schedule in Embodiment 5 to which this invention is applied. It is a flowchart which shows the processing content when ECU1702 transmits a new communication parameter in Embodiment 5 to which this invention is applied.

Embodiment 1 FIG.
FIG. 3 shows a ship network system according to Embodiment 1 of the present invention. In the ship network system of FIG. 3, engine ECUs 301 to 303 that control the engine of the ship and remote control ECUs 304 to 306 that receive operation information of a lever that a steering person operates for forward and backward travel are connected via a communication line 307. ing. Remote control ECUs 304 to 306 transmit lever operation information as messages to engine ECUs 301 to 303 via communication line 307.

  The engine ECUs 301 to 303 and the remote control ECUs 304 to 306 include a communication control unit that performs communication based on the communication standard FlexRay. In the first embodiment, one communication line 307 is used. However, in FlexRay, information can be transmitted and received in synchronization with two communication lines, and the present invention has one or two communication lines. Either book can be applied.

  An example of a communication schedule before the change of the network system is shown in FIG. In the communication schedule shown in FIG. 4, the transmission rate is 5 Mbps, one communication cycle is 5 ms, the static segment has 54 slots (slot IDs 1 to 54) that can send 16-byte messages, and the dynamic segment has 64 bytes. There are provided slots in which six messages (slot IDs 55 to 60) can be transmitted. In one communication cycle, the remote control ECUs 304 to 306 are set to transmit 8 messages respectively, and the engine ECUs 301 to 303 are set to transmit 10 messages respectively, and a total of 54 messages are transmitted in 54 slots of the static segment.

  In this ship network system, in order to improve control, the program of each remote control ECU 304-306 is changed, and when it is necessary to increase the number of messages transmitted by the remote control ECU 304-306 by 5 ms by two, change In the previous communication schedule, there is no room in the static segment for sending messages. Therefore, there is a need to change the communication schedule and increase the number of slots in the static segment so that all messages can be transmitted.

  As an example of this change, FIG. 5 shows a new communication schedule in which the dynamic segment is shortened and the number of static segment slots is increased by six so that four 64-byte messages can be transmitted. In this way, even if the number of messages transmitted by the remote control ECUs 304 to 306 in the static segment increases by two messages, a total of six messages, it can be transmitted in the slot of the static segment.

  Here, a method for changing to a new communication schedule using the external connection device in the present embodiment will be described. FIG. 6 shows an example in which an external connection device 608 for changing to a new communication schedule is connected to a ship network system. When connected, the external connection device 608 starts communication according to the communication schedule shown in FIG. 4 in synchronization with the ECUs 301 to 306. Then, in the dynamic segment slot 55, the new communication parameter for configuring the new communication schedule is transmitted for both the new global communication parameter and the new local communication parameter.

  An example of a message transmitted in the slot 55 at this time is shown in FIG. A FlexRay message includes a header part, a payload part, and a trailer part, and information transmitted and received between ECUs is stored in the payload part. The new communication parameter contents and the order thereof need to be changed depending on the structure of the communication parameter register for setting the communication parameter value of the ECU, so an example is shown here. Further, as shown here, a method may be used in which only new communication parameters that need to be changed are transmitted instead of all new communication parameters necessary for setting. Further, when a static segment slot is assigned to the external connection device 608 in advance, transmission may be performed using the static segment slot.

  Next, the processing content of the engine ECU 301 that has received the message including the new communication parameter transmitted in the slot 61 will be described with reference to the flowchart of FIG. However, in the present embodiment, the processing contents are the same for the other engine ECUs 302 to 303 and the remote control ECUs 304 to 306 regardless of the type of the received ECU.

ST801
The engine ECU 301 receives a message in the slot 55 of the dynamic segment during normal communication according to the communication schedule shown in FIG. If not received, the communication is continued and the new communication parameter is not changed.

ST802
The engine ECU 301 stops communication and transitions to the configuration mode.

ST803
When the engine ECU 301 enters the configuration mode, the engine ECU 301 sets a new communication parameter included in the message received in the slot 55 in the communication parameter register.

ST804
The engine ECU 301 transitions to the communication mode again, starts communication with the new communication schedule shown in FIG. 5 based on the new communication parameters, and ends the change process.

That is, in the first embodiment, a plurality of electronic control devices are
One or more communication parameters are provided, and at least one of the communication parameters is set to a common value in a plurality of electronic control devices, thereby forming a communication schedule having a communication specification common to the plurality of electronic control devices, the plurality of electronic control units, synchronization by the communication schedule Then, transmission and reception regions, each assigned an electronic control device, a network system of time-division multiplex system for transmitting and receiving information, the electronic control unit, a predetermined number of communication schedule of the time domain for transmission and reception is divided into, in the reception area allocated to the electronic control unit receives the new communications parameters,-out based on the new communications parameters, re-synchronized to a common new communication schedule in the electronic control unit Then, information is transmitted / received in a transmission / reception area assigned by each electronic control unit .

  Therefore, according to the first embodiment, since it is easy to change to a communication schedule corresponding to the number of ECUs, it is possible to perform communication with a communication schedule according to the state of the network system.

  Thus, it is possible to perform communication more efficiently than setting a communication schedule with a margin in advance assuming the number of ECU connections. In particular, in a ship network system where the user may increase or decrease the number of engine ECUs as necessary, the communication schedule can be easily changed by changing the number of ECUs by applying the present invention. In addition, the ship can be controlled in accordance with the number of ECUs.

  In addition, since each ECU that has received the new communication parameter resets the new communication parameter, the time required for changing to the new communication schedule does not depend on the number of ECUs.

  Furthermore, the communication schedule can be easily changed even when an ECU is already mounted on a car or a ship and it is difficult to take it out after installation.

  Furthermore, the required ROM size can be reduced and the cost of the ECU can be reduced as compared with the method in which each ECU holds and changes communication parameters for several communication schedules in advance.

  Furthermore, by automatically changing the communication schedule of the network system using the external connection device, the user does not need to perform a complicated operation for the change.

Embodiment 2. FIG.
FIG. 9 shows an in-vehicle network system. In the in-vehicle network system of FIG. 9, an engine ECU 901, an anti-lock brake system (ABS) ECU 902, a transmission ECU 903, and an electric power steering (EPS) ECU 904 are connected by a communication line A909 and a communication line B910.

  Each of the ECUs 901 to 904 includes a communication control unit that performs communication based on the communication standard FlexRay. In the second embodiment, two communication lines are used. However, the present invention can be applied to either one or two communication lines.

  The engine ECU 901 has a crank angle sensor 905 that outputs the engine speed, the ABS ECU 902 has a vehicle speed sensor 906 that outputs a vehicle speed pulse according to the rotation of the wheel shaft, the transmission ECU 903 has a transmission 907 that changes the gear ratio, and the EPS ECU 904 It is assumed that an EPS motor 908 that assists the driver's steering is connected.

  When the in-vehicle network system is in a normal state, the engine ECU 901 provides the engine speed information based on the input value from the crank angle sensor 905 and the ABS ECU 902 provides the input value from the vehicle speed sensor 906 via the communication line A909 and the communication line B910. The transmission ECU 903 transmits the current gear ratio information as a message based on the input value from the transmission 907, respectively.

  The engine ECU 901 and the EPS ECU 904 use the vehicle speed information transmitted from the ABS ECU 902 to control the engine and the EPS motor 908. Although the vehicle speed can be calculated from the engine speed output from the crank angle sensor 905 and the gear ratio output from the transmission 906, the vehicle speed used by the engine ECU 901 and the EPS ECU 904 is ABS ECU 909 under normal conditions. It is assumed that the vehicle speed information from the vehicle speed sensor 906 transmitted by is used.

  An example of a communication schedule in this normal state is shown in FIG. In this communication schedule, the transmission rate is 5 Mbps, one communication cycle is 2.5 ms, the static segment has 25 slots that can send 8-byte messages, and the dynamic segment can send 3 64-byte messages. Slots are provided.

  A message containing engine speed information is assigned to slot 1, a message containing vehicle speed information is assigned to slot 2, and a message containing gear ratio information is assigned to slot 3. Each ECU transmits and receives a lot of other information, but it is omitted here. In the communication schedule at this time, the length of the payload portion of one message of the static segment for storing information is 8 bytes. Among them, the information on the engine speed is allocated for 1 byte as shown in FIG. It is assumed that

  Consider a case where the vehicle speed sensor 906 connected to the ABS ECU 902 fails in this in-vehicle network system. At this time, the ABS ECU 902 cannot transmit normal vehicle speed information. Therefore, the ABS ECU 902 transmits the bit part storing the vehicle speed information of the message transmitted in the slot 2 with all 1 indicating an error. On the other hand, the engine ECU 901 and the EPS ECU 904 detect an error in the vehicle speed information and cannot perform control using the vehicle speed information because the bit portion assigned to the vehicle speed information in the message of the slot 2 is all 1. Therefore, it is necessary to obtain the vehicle speed using other information.

  As described above, the vehicle speed can also be obtained from the engine speed and the gear ratio. However, as shown in FIG. 11, only 1 byte is allocated to the information on the engine speed included in the message transmitted by the engine ECU 901 at this time, and even if the engine speed is a maximum of 8000 rpm, The factor (engine speed indicated by 1 bit) is about 31.4, and the resolution is too low, and it is difficult to obtain an accurate vehicle speed from this information. Therefore, in order to obtain sufficient resolution, more bits for assigning the engine speed must be assigned.

  However, in the communication schedule of this in-vehicle network system, as shown in FIG. 11, there is no room for increasing the number of bits for engine speed. In the slot of the static segment, the payload length for storing information is fixed by the communication parameter. Therefore, in order to increase the number of bits for the engine speed, it is necessary to change the communication schedule, change the communication parameter for determining the payload length, and make the payload length longer than the current 8 bytes.

  FIG. 12 shows a new communication schedule when the payload length of a message that can be transmitted in a static segment slot is 16 bytes as a modification example for increasing the number of bits for the engine speed. By doing so, it is possible to change the allocation of information allocated to this message and to extend the information allocated to the information on the engine speed to 2 bytes, for example, as shown in FIG. With 2 bytes, even if the engine speed is set to a maximum of 12000 rpm with a margin, the factor is about 0.18 (crank angle is about 66 °), and it can be said that the engine speed has sufficient resolution.

  Next, a method for changing to a new communication schedule in the present embodiment will be described. Here, it is assumed that the engine ECU 901 that has detected an error by receiving information indicating an error in the vehicle speed information transmits a new communication parameter for changing to a new communication schedule. First, the processing contents of the engine ECU 901 that transmits a new communication parameter will be described with reference to the flowchart of FIG.

ST1401
The engine ECU 901 receives a message in which the bit portion assigned to the vehicle speed information is all 1 in the slot 2 during normal communication according to the communication schedule shown in FIG.

ST1402
The engine ECU 901 detects that the information is indicative of an error because the bit portion assigned to the vehicle speed information is all 1, and detects an error in the vehicle speed information.

ST1403
Engine ECU 901 transmits a new communication parameter in slot 26. As described above, the new communication parameter has a data length of 16 bytes, and is stored in advance by the engine ECU 901 as a communication parameter for responding to an error detected in the vehicle speed information.

ST1404
When the engine ECU 901 transmits new communication parameters for 5 communication cycles (12.5 ms), the engine ECU 901 stops communication and transitions to the configuration mode. However, this transmission period needs to be changed according to the length of one communication cycle, and the values shown here are examples.

ST1405
When in the configuration mode, the engine ECU 901 sets the transmitted new communication parameter in the communication parameter register.

ST1406
The engine ECU 901 again transitions to the communication mode, starts communication with the new communication schedule shown in FIG. 12 based on the new communication parameters, and ends the change process.

  Next, a new communication parameter transmitted by engine ECU 901 in ST1403 of FIG. 14 will be described. The CPU mounted on the ECU of the in-vehicle network system has different performance depending on the function. Therefore, as described above, the local communication parameters constituting the same communication schedule may be different. In such a case, it is preferable to set only new global communication parameters to be transmitted and set new local communication parameters based on the new global communication parameters received by the ECU in order to reduce the communication load. Therefore, the new communication parameter transmitted by the engine ECU 901 is only the new global communication parameter as shown in FIG.

  Next, processing contents of the EPS ECU 904 that has received the message including the new global communication parameter transmitted in the slot 26 will be described with reference to the flowchart of FIG. In the present embodiment, the processing contents are the same for the other ECUs 902 to 903 regardless of the type of the received ECU.

ST1601
The EPS ECU 904 receives a message in the slot 26 of the dynamic segment during normal communication according to the communication schedule shown in FIG. If not received, the communication is continued and the new communication parameter is not changed.

ST1602
When the EPS ECU 904 receives a message in the slot 26, the EPS ECU 904 stops communication and shifts to the configuration mode.

ST1603
When the EPS ECU 904 enters the configuration mode, the EPS ECU 904 determines a new local communication parameter based on the new global communication parameter included in the message received in the slot 26.

ST1604
The new global communication parameter and new local communication parameter determined in ST1603 are set in the communication parameter register.

ST1605
The EPS ECU 904 sets the communication control unit to the communication mode again, starts communication with the new communication schedule shown in FIG. 12 based on the new communication parameters, and ends the change process.

A method of determining a new local communication parameter from the received new global communication parameter in ST1603 of FIG. 16 will be described using an example of a new local communication parameter pSamplesPerMicrotick. pSamplesPerMicrotick is determined by the following formula from the definition of FlexRay specifications.
pSamplesPerMicrotick = pdMicrotick / gdSampleClockPeriod

  gdSampleClockPeriod is received as a new global communication parameter. Although pdMicrotick is a local communication parameter, this value is uniquely determined depending on the transmission speed and the operating frequency of the CPU mounted on the received ECU. The transmission rate is uniquely determined from gdSampleClockPeriod. From the above, the new local communication parameter pSamplePerMicrotick can be uniquely determined from the new global communication parameter received by the EPS ECU 904.

  In the second embodiment, engine ECU 901 is assigned as an ECU that transmits a new communication parameter. However, EPS ECU 904 that has received a message indicating that the vehicle speed information transmitted from ABS ECU 902 indicates an error may transmit the new communication parameter. good. Further, the new global communication parameter may be transmitted in the static segment slot when the static segment slot is assigned in advance.

  According to the second embodiment, the ECU determines the necessity for changing the communication schedule and transmits a new communication parameter, thereby eliminating the need to use an external connection device. Therefore, even if the network system communication schedule needs to be changed, the user does not need to perform an operation for changing the communication schedule.

  In addition, by detecting information by receiving information indicating an error and transmitting a new communication parameter, it is possible to change to a new communication schedule according to the state of the network system such as a failure of a sensor connected to the ECU. Is possible.

  Furthermore, the communication parameter to be transmitted to change to the new communication schedule is only the new global communication parameter, and the new local communication parameter is determined based on the new global communication parameter received by each ECU. The communication load due to transmission can be reduced, and new communication parameters can be set according to the CPU installed in each ECU.

Embodiment 3 FIG.
FIG. 17 shows a network system according to the third embodiment. In this network system, ECUs 1701 to 1703 are connected to a communication line A 1704 and a communication line B 1705. Each of the ECUs 1701 to 1703 includes a communication control unit that performs communication based on the communication standard FlexRay. In the third embodiment, two communication lines are used. However, the present invention can be applied to either one or two communication lines.

  FlexRay stipulates that the communication control unit has a function of notifying an application of an error flag when the communication control unit detects a specific error related to FlexRay communication. For example, when two or more messages are received in one slot, the flag vSS! SyntaxError is set. Also, the flag vSS! ContentError is set when the length of the payload portion indicated in the header of the received message is different from the set communication parameter gPayloadLengthStatic. As a result, the application can use this flag to handle an error.

  In the third embodiment, when the flag vSS! ContentError is set during communication with a communication schedule in the network system, the ECU 1701 that detects this flag transmits a new communication parameter to change to a new communication schedule. The contents will be described with reference to the flowchart of FIG.

ST1801
During normal communication, the ECU 1701 sets the flag vSS! ContentErrorA related to the communication line A 1704 in the status register of the communication control unit to 1, and detects that an error related to FlexRay communication has occurred.

ST1802
ECU 1701 transmits a new communication parameter constituting a new communication schedule in a transmission slot assigned by ECU 1701. This new communication parameter is held in advance by the ECU 1701 as a communication parameter when vSS! ContentError is detected.

ST1803
The ECU 1701 determines whether the new communication parameter being transmitted is different from the current communication parameter. If they are different, the process proceeds to ST1804, and if they are the same, the process proceeds to ST1807.

ST1804
When ECU 1701 transmits new communication parameters for 5 communication cycles, it stops communication and transitions to configuration mode. However, this transmission period needs to be changed according to the length of one communication cycle, and the values shown here are examples.

ST1805
When in the configuration mode, ECU 1701 sets the transmitted new communication parameter in the communication parameter register.

ST1806
The ECU 1701 again transitions to the communication mode, starts communication with the new communication schedule based on the new communication parameter, and ends the change process.

ST1807
When the new communication parameter being transmitted is the same as the current communication parameter, ECU 1701 ends the transmission of the message including the new communication parameter after transmitting the new communication parameter for five communication cycles.

  As shown in ST1803, the new communication parameter transmitted by ECU 1701 may be the same as or different from the current communication parameter.

  The processing contents of the ECU 1702 and the ECU 1703 that have received the transmitted new communication parameters and changed to the new communication schedule are the same as the processing contents shown in FIG. 8 or FIG.

  In the third embodiment, the method for changing the communication schedule when the flag vSS! ContentError is set has been described. However, other FlexRay communication control unit flags may be set.

  According to the third embodiment, when a communication error is detected, the detected ECU transmits a new communication parameter, so that it can be immediately changed to a new communication schedule corresponding to the communication state.

  In addition, since a plurality of ECUs have a function of transmitting new communication parameters, it is possible to immediately change to a new communication schedule as needed, rather than a case where only one ECU transmits new communication parameters.

Embodiment 4 FIG.
FIG. 19 shows an in-vehicle network system according to the fourth embodiment. In the in-vehicle network system of FIG. 19, an engine ECU 1901, a battery ECU 1902, and a hybrid ECU 1903 are connected by a communication line A 1904 and a communication line B 1905. An engine 1906 is connected to the engine ECU 1901, a battery 1907 is connected to the battery ECU, a motor 1908 is connected to the hybrid ECU 1903, and the motor 1908 is also connected to the engine 1906 and the battery 1907.

  Each of the ECUs 1901 to 1903 includes a communication control unit that performs communication based on the communication standard FlexRay. In the fourth embodiment, two communication lines are used. However, the present invention can be applied to either one or two communication lines.

  The engine ECU 1901 controls the engine 1906. In addition to the wheels, the motor 1908 is driven by the power of the engine 1906. When the motor 1908 is driven, the battery 1907 is charged. In addition, when starting off, the motor 1908 is driven using the electric power charged in the battery 1907 to assist the engine 1906 in driving the wheels. Battery ECU 1902 transmits information on the state of charge of battery 1907 to hybrid ECU 1903 via communication line A 1904 and communication line B 1905. The hybrid ECU 1903 receives information on the state of charge, and when the charge amount of the battery 1907 is insufficient, the hybrid ECU 1903 requests the engine ECU 1901 to increase the output of the engine 1906 via the communication line A 1904 and the communication line B 1905. The power generation amount of the motor 1908 can be increased.

  The communication schedule in this normal state is shown in FIG. At this time, the transmission rate is 5 Mbps, and one communication cycle is 5 ms. The engine ECU 1901 transmits information on the number of revolutions of the engine 1906 to the hybrid ECU 1903 in slot 1 and the battery ECU 1902 transmits information on charging the battery 1707 to the hybrid ECU 1903 in one message for each communication cycle, that is, every 5 ms. Each of the ECUs 1901 to 1903 transmits a message including information necessary for other control in a plurality of slots, but is omitted here.

  In this in-vehicle network system, it is assumed that the battery ECU 1902 fails and all messages are not transmitted from the battery ECU 1902. Along with the failure of the battery ECU 1902, the hybrid ECU 1903 can no longer receive battery charging information at the slot 2 and detects an error that the battery ECU 1902 is not operating normally. In this case, as described above, the motor 1908 which is also the power source of the battery 1907 cannot be driven normally. Therefore, in order to avoid this state, the hybrid ECU 1903 needs to change the control contents so that the motor 1908 is driven only by directly using the power of the engine 1906.

  Therefore, in order to drive the motor 1908 using only the power of the engine 1906 with high accuracy, the hybrid ECU 1903 needs to receive information on the engine speed from the engine ECU 1901 in a shorter cycle. Information on the engine speed from the engine ECU 1901 at this time is transmitted at a cycle of 5 ms as described above. Here, if the communication speed is increased from 5 Mbps to 10 Mbps, the information on the engine speed is transmitted at a half cycle of 2.5 ms. FIG. 21 shows a new communication schedule that allows the motor 1908 to be controlled even when the hybrid ECU 1903 cannot receive information on the state of charge of the battery 1907 due to a failure of the battery ECU 1902 in this way.

  Next, a method for changing to a new communication schedule when the battery ECU 1902 in the present embodiment fails will be described. The processing contents of the hybrid ECU 1903 that transmits a new communication parameter will be described with reference to the flowchart of FIG.

ST2201
Hybrid ECU 1903 detects in slot 2 that a message including charging information from battery ECU 1902 has not been received.

ST2202
Hybrid ECU 1903 detects that an error has occurred in battery ECU 1702 because the message could not be received in ST2201.

ST2203
The hybrid ECU 1903 transmits a new communication parameter constituting the new communication schedule shown in FIG. 21 in the slot 41 so as to double the transmission speed in order to receive information on the engine speed at a high frequency.

ST2204
When the hybrid ECU 1903 transmits new communication parameters for 5 communication cycles (25 ms), the hybrid ECU 1903 stops communication and transitions to the configuration mode. However, this transmission period needs to be changed according to the length of one communication cycle, and the values shown here are examples.

ST2205
When the hybrid ECU 1903 enters the configuration mode, the hybrid ECU 1903 sets the transmitted new communication parameter in the communication parameter register.

ST2206
The hybrid ECU 1903 again transitions to the communication mode, starts communication with the new communication schedule shown in FIG. 21 based on the new communication parameters, and ends the change process.

  In ST2203 of FIG. 22, the new communication parameter transmitted by hybrid ECU 1903 may be only a new global communication parameter or a new local communication parameter.

  In addition, the processing contents of the engine ECU 1901 and the battery ECU 1902 that have received the transmitted new communication parameters are the same as the processing contents shown in FIG. 8 or FIG. 16 except for the slot numbers. Omitted.

  According to the fourth embodiment, when an ECU that is set to receive information indicates a failure in an ECU that transmits information and this information cannot be received, an error is detected and the communication schedule is changed. It is possible to perform control to compensate for the failure.

Embodiment 5 FIG.
The configuration of the network system according to the fifth embodiment is the same as that of the third embodiment shown in FIG.

  As described in FIG. 1, the FlexRay communication cycle includes a static segment and a dynamic segment. The dynamic segment is composed of one or more dynamic slots, and one message can be transmitted in one dynamic slot. The length of the dynamic segment is fixed, but the width of the dynamic slot varies during communication depending on the length of information to be transmitted. A dynamic slot without a message to be assigned has a fixed length set by the communication parameter gdMinislot.

  FIG. 23 shows a communication schedule example of this network system. ECU 1701 is set to send message X in dynamic slot 26, ECU 1702 is set to send message Y in dynamic slot 30, and ECU 1703 is set to send other messages in dynamic slots 27-29. The transmission rate is 5 Mbps.

  In communication cycle N, transmission of messages X and Y is completed in dynamic slots 26 and 30. However, in the communication cycle N + 1, since the length of the message X is longer than that in the communication cycle N, the length of the dynamic slot 26 is also longer. As a result, the message Y assigned to the dynamic slot 30 cannot be transmitted. Thus, in the dynamic segment, the priority of the dynamic slot with the smaller number is higher.

  FlexRay stipulates that the communication control unit has a function of notifying the application of the number of the dynamic slot that has completed transmission last using the flag zLastDynTxSlot. If no message is transmitted in the dynamic segment, zLastDynTxSlot = 0. Accordingly, in the example of FIG. 23, the ECU 1702 has zLastDynTxSlot = 0 in the communication cycle N and zLastDynTxSlot = 0 in the communication cycle N + 1.

  Usually, the width of the dynamic segment is set by communication parameters so as to secure a dynamic slot by taking into account the length of a message to be transmitted in advance. However, if the number of messages increases due to network system conditions such as an increase in the number of ECUs or errors, the number of dynamic slots used for transmission increases or the length of a specific dynamic slot increases significantly. When the communication load increases more than the value considered, for example, a message of a dynamic slot with a low priority may not be transmitted as shown in FIG.

  In such a case, it is necessary to reduce the communication load so that the message Z can be transmitted in the dynamic slot 30. As a method for this, FIG. 24 shows a communication schedule example in which the amount of information that can be transmitted per second is doubled by increasing the transmission rate from the current 5 Mbps to 10 Mbps. When the communication load increases in this way, the communication schedule can be reduced by setting a communication schedule with an increased transmission speed, and a desired message can be transmitted and received.

  Next, a method for changing to a new communication schedule in the present embodiment will be described with reference to the flowchart of FIG. Here, as shown in FIG. 23, when the ECU 1702 detects that the message Y cannot be transmitted in the dynamic slot 30 because zLastDynTxSlot = 30, a new one for the ECU 1702 to change to a new communication schedule is detected. Suppose that you want to send communication parameters.

ST2501
During normal communication, the ECU 1702 detects that the message z cannot be transmitted in the dynamic slot 30 because the flag zLastDynTxSlot is not 30 as the number of the dynamic slot that has completed transmission last, and the communication load of the network system increases. Detect that

ST2502
In a transmission slot assigned by the ECU 1702, new communication parameters constituting a new communication schedule are transmitted. This new communication parameter is held in advance by the ECU 1702 as a communication parameter when a communication load increase is detected.

ST2503
When ECU 1702 transmits new communication parameters for five communication cycles, it stops communication and transitions to configuration mode. However, this transmission period needs to be changed according to the length of one communication cycle, and the values shown here are examples.

ST2504
When in the configuration mode, ECU 1702 sets the transmitted new communication parameter in the communication parameter register.

ST2505
The ECU 1702 again transitions to the communication mode, starts communication with a new communication schedule based on the new communication parameters, and ends the change process.

  The processing contents of the ECU 1701 and ECU 1703 for changing to the new communication schedule that have received the transmitted new communication parameters are the same as the processing contents shown in FIG. 8 or FIG.

  According to the fifth embodiment, when the ECU detects that the communication load has changed, the communication load can be adjusted by transmitting a new communication schedule. In particular, when the communication load increases, a new communication schedule in which the transmission speed is changed so as to reduce the communication load can prevent the message from being transmitted.

  In Embodiments 1 to 5, although the communication standard is FlexRay, other communication standards for performing communication based on the time division multiplexing method may be used.

  301 to 303 Engine ECU, 304 to 306 Remote control ECU, 307 Communication line, 608 External connection device, 901 Engine ECU, 902 Antilock brake system (ABS) ECU, 903 Transmission ECU, 904 Electric power steering (EPS) ECU, 909 Communication Line A, 910 Communication line B, 1701-1703 ECU, 1704 Communication line A, 1705 Communication line B, 1901 Engine ECU, 1902 Battery ECU, 1903 Hybrid ECU, 1904 Communication line A, 1905 Communication line B

Claims (11)

A plurality of electronic control devices are connected by communication lines,
The plurality of electronic control devices comprise one or more communication parameters,
At least one of the communication parameters is set to a value common to the plurality of electronic control devices, thereby configuring a communication schedule having a communication specification common to the plurality of electronic control devices,
The plurality of electronic control devices, when synchronized with the communication schedule, is a time division multiplexing network system that transmits and receives information in a transmission / reception area assigned by each of the electronic control devices,
The electronic control device
When a new communication parameter is received in the reception area allocated to the electronic control device among the transmission / reception time regions obtained by dividing the communication schedule into a predetermined number, the electronic control device uses a common communication method based on the new communication parameter. Resynchronize with the new communication schedule ,
A network system, wherein information is transmitted / received in a transmission / reception area assigned by each of the electronic control devices.
The network system according to claim 1,
The network system, wherein the device for transmitting the new communication parameter is an external connection device connectable to the network system. The network system according to claim 1,
The network system characterized in that the device for transmitting the new communication parameter is one of the plurality of electronic control devices. The network system according to claim 3,
The network system, wherein the plurality of electronic control devices have a function of transmitting the new communication parameter. In the network system according to claim 3 or 4,
When the electronic control device having a function of transmitting the new communication parameter detects a specific error, the electronic control device transmits the new communication parameter in the transmission area assigned by the electronic control device. The network system according to claim 5, wherein
The network system, wherein the electronic control device having a function of transmitting the communication parameter detects the error by receiving information indicating an error in the reception area assigned by the electronic control device. The network system according to claim 5, wherein
The network system, wherein the electronic control device having a function of transmitting the communication parameter includes a status register indicating an error that has occurred in the electronic control device, thereby detecting the error. The network system according to claim 5, wherein
The network system, wherein the electronic control device having a function of transmitting the communication parameter detects the error when predetermined information cannot be received in the reception area assigned by the electronic control device. In the network system according to any one of claims 3 to 8,
The electronic control unit having a function of transmitting the new communication parameter detects that the communication load of the network system has fluctuated because the information cannot be transmitted / received in the transmission / reception area assigned by the electronic control unit. The network system, wherein the new communication parameter is transmitted in the transmission area assigned by the electronic control unit. The network system according to claim 9, wherein
The network system characterized in that the electronic control unit having a function of transmitting the new communication parameter transmits the new communication parameter in order to change a transmission rate of the network system so as to adjust a communication load. The network system according to any one of claims 1 to 10,
When two or more of the communication parameters exist and the electronic control unit receives a part of the new communication parameter, it determines all the new communication parameters using a part of the received new communication parameter, A network system that performs communication in resynchronization with the new communication schedule common to the electronic control unit based on all the new communication parameters.

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