JP5113492B2 - Communication abnormality detection device - Google Patents

Description

  The present invention relates to a communication abnormality detection device, and more specifically to a device that detects communication abnormality between a plurality of electronic control devices.

  In general, an internal combustion engine has a plurality of electronic control units (ECUs) (Electronic Control Units (ECUs)) for electronically controlling driving of a fuel injection device (injector), an ignition device (igniter), a throttle valve, and the like. Unit)) is provided. Each electronic control device transmits and receives a plurality of types of data necessary for driving and controlling them through CAN (Controller Area Network) communication or the like. Conventionally, various devices have been proposed for detecting an abnormality in communication between electronic control devices that transmit and receive multiple types of data.

For example, in the following Patent Document 1, when transmitting a plurality of numerical data in the transmission-side electronic control device, the total value of the plurality of numerical data is added to the transmission data, and in the reception-side electronic control device, A communication abnormality between the electronic control devices is detected by calculating a total value of the received plurality of numerical data and comparing the calculated total value with the received total value. In Patent Document 2 below, monitoring information that changes for each communication in transmission data in the electronic control device on the transmission side, specifically, a flag that can be changed alternately between 1 and 0 for each communication. In addition to the transmission, the reception-side electronic control device detects a communication abnormality between the electronic control devices by monitoring changes in the flag for each communication.
Japanese Patent No. 3156493 JP 2001-197154 A

  However, in the communication abnormality detection described in the above-mentioned patent document, the transmission-side electronic control device transmits data for confirmation or monitoring added to the transmission data, and the reception-side electronic control device confirms or monitors it. Because of this configuration, the transmission-side electronic control device cannot update transmission data for each communication, and cannot detect a communication abnormality such that data of the same content is repeatedly transmitted. Further, since it is necessary to provide data for confirmation or monitoring separately in the transmission data, there is room for improvement in terms of effective use of communication resources.

  Accordingly, an object of the present invention is to solve the above-described problems and to repeatedly transmit data of the same content in a communication abnormality detection device that detects communication abnormality between a plurality of electronic control devices that periodically transmit and receive a plurality of types of data. Another object of the present invention is to provide a communication abnormality detection device that detects communication abnormality such as transmission and uses communication resources effectively without providing confirmation data or monitoring data separately in transmission data.

In order to solve the above-described object, in claim 1, in a communication abnormality detection device that detects communication abnormality between a plurality of electronic control devices that periodically transmit and receive a plurality of types of data, One of the electronic control devices transmits, for each communication, transmission data consisting of a command corresponding to at least the type of the data to the other, and for the reply consisting of an identifier created according to at least the received command to the other together to Reply data, when the identifier received is not created in response to the command, and as configured to detect that there is the communication abnormality.

  According to a second aspect of the present invention, when the one side transmits the data to the other side and then does not receive the reply data, the one side transmits the data to the other side again.

Further, according to claim 3, when the received identifier is not created in response to the command , the one transmits the transmission data to the other again, and the received identifier is the command When it is detected continuously that it has not been created for a predetermined time, it is detected that the communication abnormality is detected.

According to a fourth aspect of the present invention, the transmission data transmitted by the one includes the command and a numerical value, and the one causes the other to create and return the identifier according to the received command. that如 rather was constructed.

Further, in the claim 5, wherein the reply data to which the other replies, the front consists Ki識 Besshi and numerical, the one, the the other, the data for the reply in response to the received command allowed to create was 如 rather than configuration Ru to reply.

Further, in the claim 6, wherein the one hand, when detecting that there is the communication abnormality, and as configured to stop transmission of the transmission data.

  In the above, “communication abnormality” refers to an abnormality in communication content such that one or the other of the electronic control devices repeatedly transmits data of the same content, but includes reception abnormality and calculation abnormality in one and the other of the electronic control device It may be understood as a thing.

According to claim 1, one of the plurality of electronic control units that periodically transmit and receive a plurality of types of data transmits transmission data including at least a command corresponding to the type of data to the other for each communication. , while the, dissipate Shin return the reply data comprising a identifier is created according to the command at least received, when received identifier is not created in response to the command sent, it detects that there is communication abnormality With this configuration, it is possible to detect a communication abnormality such that data having the same content is repeatedly transmitted.

That is, although it is assumed that one of the electronic control devices transmits (or returns) transmission data including at least a command corresponding to the type of data for each communication, the received reply data (more details) Is an identifier included in the received reply data) is not created in accordance with the transmitted command , one or the other of the electronic control unit cannot update the transmission content or the reply content, Since a situation is assumed in which transmission data or reply data having the same content as the previous communication is transmitted or returned, it is possible to detect the above communication abnormality.

In addition, since transmission abnormality is detected by transmitting (or returning) transmission data including commands corresponding to at least data types for each communication, confirmation or monitoring of transmission data (or return data) is performed. Therefore, it is not necessary to separately provide data for communication, and communication resources can be used effectively.

  In the communication abnormality detection device according to claim 2, when one side transmits data to the other and then does not receive reply data, the data is transmitted again to the other side. In addition, it is possible to reliably detect the communication abnormality.

A communication abnormality detection apparatus according to claim 3, one, when the received identifier is not created in response to the command transmitted, transmits again the transmission data to the other, the received identifier is transmitted Since it is configured to detect that there is a communication abnormality when it is continuously detected that it has not been created in response to a command , it is possible to accurately detect the above communication abnormality in addition to the above effects. .

In the communication abnormality detection device according to claim 4, the transmission data transmitted by one side includes a command indicating a type and a numerical value, and the other causes the other side to create an identifier and return it according to the received command. since much like an arrangement that, in addition to the above effects, the other can reduce the capacitance of the return data to be returned, thus the communication resources can be more effectively used.

A communication abnormality detection apparatus according to claim 5, the other is the reply data to reply consists identifier and numerical, one, is returned by creating reply data in response to a command received on the other since much like an arrangement that, in addition to the above advantages, one for sufficient to transmit the data consisting of only the identifier can be one of possible to reduce the amount of data to be transmitted, thus utilizing the communication resources more effectively .

A communication abnormality detection apparatus according to claim 6, one, when detecting that there is communication abnormality, since it is configured to stop transmission of the transmission data, in addition to the above effects, the other control object Therefore, it is possible to prevent malfunction caused by the above communication abnormality.

  The best mode for carrying out the communication abnormality detection device according to the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing a plurality of electronic control devices including a communication abnormality detection device according to a first embodiment of the present invention.

  In FIG. 1, reference numeral 10 denotes an electronic control unit (ECU) that electronically controls a fuel injection device (injector) and an ignition device (igniter) of an internal combustion engine (hereinafter referred to as “engine”). (Referred to as “engine control unit”) (shown as “UNIT1” in the drawing). Reference numeral 12 denotes an electronic control unit (ECU (Electronic Control Unit), hereinafter referred to as “throttle valve control unit”) (the other of the electronic control unit) that electronically controls the throttle valve (indicated by “UNIT2” in the figure). ).

  The engine control unit 10 includes a central processing unit CPU 10a, a ROM (not shown) for storing various programs, and a RAM (not shown) for temporarily storing data output from various sensors and data calculated by the CPU 10a. Thus, the drive of the fuel injection device and the ignition device, which are controlled objects, is controlled according to various programs. The throttle valve control unit 12 includes a similar CPU 12a, ROM (not shown), and RAM (not shown), and controls driving of the throttle valve according to various programs.

  The engine control unit 10 and the throttle valve control unit 12 are connected via a communication line 14, and are provided with transceivers 10b and 12b for transmitting data to the other and receiving data from the other, respectively. Each of the transceivers 10b and 12b is controlled by CAN controllers 10c and 12c arranged in the respective CPUs. As described above, the engine control unit 10 and the throttle valve control unit 12 are connected by so-called CAN (Controller Area Network) communication so that data can be transmitted and received.

  The engine control unit 10 is connected to an accelerator opening sensor, a throttle opening sensor, an intake pressure sensor, and the like, and outputs data from various sensors. Specifically, the output data includes an accelerator opening AP, a throttle opening θth, an intake pressure PA, and the like. The throttle valve control unit 12 is connected to a battery voltage sensor, a hall sensor, or the like, and receives output data from various sensors. Specifically, the output data is battery voltage VB, hall current IH, and the like. The engine control unit 10 and the throttle valve control unit 12 periodically transmit and receive these multiple types of data to each other via CAN communication.

  The communication abnormality detection device according to the present invention includes a CAN controller, and detects an abnormality in CAN communication between the engine control unit 10 and the throttle valve control unit 12 when transmitting a plurality of types of data from one to the other. The communication abnormality detection will be specifically described from the flowcharts in the following figures.

  FIG. 2 is a flowchart relating to communication abnormality detection executed by the transmission-side electronic control device. Although both the engine control unit 10 and the throttle valve control unit 12 are appropriate as the transmission-side electronic control device, for convenience of explanation, the engine control unit 10 is used here as the transmission-side electronic control device. Specifically, the flowchart of FIG. 2 is a program executed by the CAN controller 10 c of the engine control unit 10.

  First, in S10, a command CMD is issued. The command CMD is any numerical value among natural numbers from 1 to n (n ≧ 2). n corresponds to the total number of data types to be transmitted by the engine control unit 10. Here, a different command CMD is assigned to each data type. For example, a command CMD of 1 is assigned to the accelerator opening AP, 2 to the throttle opening θth, and 3 to the intake pressure PA. In S10 in the figure, i is issued as an arbitrary command CMD. The first command CMD is usually issued immediately after the start of the program.

  In step S12, the command CMD and the numerical value of the data type assigned to the command CMD are transmitted as transmission data. If it is the first time, one command CMD and the corresponding accelerator opening AP are transmitted. Here, specifically, regarding the transmission, the CAN controller 10c instructs the transceiver 10b to transmit them, and the transceiver 10b updates and transmits them as current transmission data. Of the transmission data, at least the command CMD is temporarily stored in the RAM.

  Next, a reception-side electronic control device that receives transmission data will be described.

  FIG. 3 is a flowchart relating to communication abnormality detection executed by the electronic control device on the receiving side. Here, the throttle valve control unit 12 will be described as a reception-side electronic control device. Specifically, the flowchart of FIG. 3 is a program executed by the CAN controller 12 c of the throttle valve control unit 12.

  In S100, it is determined whether the command CMD transmitted from the engine control unit 10 and the numerical value of the data type assigned thereto are received. When the result is negative, the program is skipped, while when the result is positive, the process proceeds to S102 to determine whether or not the received command CMD is 1.

  When the result is affirmative in S102, the process proceeds to S104, and a recognition code ID of 1 is created. On the other hand, when the result in S102 is NO, it is determined whether or not the command CMD received in S106 is 2. When the result is affirmative in S106, the process proceeds to S108, and a recognition code ID of 2 is created. On the other hand, when the result in S106 is negative, thereafter, similarly, as shown in steps S110 and S112, it is determined whether the received command CMD is 3, 4, 5,. , 3, 4, 5,... N are created. In this way, the recognition code ID is also a natural number from 1 to n (n ≧ 2), and the same recognition code ID as the received command CMD is created.

  Next, in S114, the created recognition code ID is returned to the engine control unit 10 as return data. More specifically, the CAN controller 12c instructs the transmitter / receiver 12b to return the currently generated recognition code ID, and the transmitter / receiver 12b updates the recognition code ID as the current return data and sends it to the engine control unit. Reply to 10. When the result in S110 is negative, the program is skipped.

  Returning to FIG. 2, the description of the flow chart on the transmitting side will be continued. In S14, it is determined whether or not the reply data from the throttle valve control unit 12, that is, the recognition code ID has been received. After the transmission data is transmitted in S12, if the recognition code ID is not received even after an appropriate time has elapsed, the result in S14 is negative, and the process returns to S12 to transmit the same transmission data to the throttle valve control unit 12 again. As described above, the engine control unit 10 repeatedly transmits the same type of data unless receiving the return data from the throttle valve control unit 12.

  On the other hand, when the recognition code ID is received, the result in S14 is affirmative and the process proceeds to S16, where it is determined whether or not the command CMD issued in S10 and transmitted in S12 matches the received recognition code ID.

  When the result in S16 is affirmative, it is determined that the communication between the engine control unit 10 and the throttle valve control unit 12 is normal, and the process proceeds to S18 where the incremented (i + 1) command CMD is issued. Next, the process proceeds to S20 and after. From S20 to S24, processing similar to that described in S12 to S16 is executed. When the result in S24 is affirmative, thereafter, similarly, as shown in steps S26 to S32, the command CMD incremented by 1 from n is sequentially issued, and the same processing as described in S12 to S16 is executed. . Thus, the engine control unit 10 transmits different types of data to the throttle valve control unit 12 for each communication.

  When the result in S32 is affirmative, the process returns to S10, the first command CMD is issued, and the processes from S10 to S32 are repeated as long as it is determined that the communication is normal. Accordingly, n types of data are periodically transmitted to the throttle valve control unit 12.

  On the other hand, when the result in S16 is negative, it is determined that the communication is not normal, and the process proceeds to S34. In S34, time measurement is started with a counter or the like.

  Next, in S36, the same transmission data as that transmitted in S12 is transmitted to the throttle valve control unit 12 again. Next, in S38, it is determined whether or not reply data from the throttle valve control unit 12, that is, a recognition code ID has been received. If the recognition code ID is not received even after an appropriate time has elapsed in S38, the result in S38 is negative, and the process returns to S36 to transmit the same transmission data to the throttle valve control unit 12 again.

  When the recognition code ID is received, the result is affirmed in S38 and the process proceeds to S40, and it is determined whether or not the command CMD issued in S10 and transmitted in S36 matches the received recognition code ID. When the result in S40 is affirmative, it is determined that the communication is normal and the process proceeds to S18.

  On the other hand, when the result in S40 is NO, it is determined whether or not a predetermined time has elapsed since the time measurement was started in S42. When the result in S42 is negative, the process returns to S36 and the same transmission data is transmitted to the throttle valve control unit 12 again.

  When affirmative in S42, that is, when a predetermined time has elapsed since it was first determined that the issued / transmitted command CMD and the received recognition code ID do not match, in other words, the issued / transmitted command CMD and the received recognition code When it is continuously detected that the IDs do not match for a predetermined time, the process proceeds to S44 and it is determined that the communication between the engine control unit 10 and the throttle valve control unit 12 is abnormal. When it is determined that the communication is abnormal, the program is terminated and transmission of data thereafter is stopped.

  Note that the processing from S46 to S54 and S56 to S64 executed when the result in S24 or S32 is negative is the same as the processing from S34 to S42.

  If the command CMD issued / transmitted in S16 or the like does not match the received recognition code ID, the CAN controller 10c sends the command CMD issued this time and the numerical value of the corresponding data type to the transceiver 10b in S12. In spite of the instruction, the transmitter / receiver 10b cannot update them as the current transmission data, but repeatedly transmits the command CMD transmitted last time and the numerical value of the corresponding data type. That is, in this case, since the throttle valve control unit 12 receives the same command CMD as the previous time, it is determined that the two do not match in S16 as a result of returning the same identification code ID as the previous time.

  Alternatively, although the CAN controller 12c instructs the transceiver 12b to return the identification code ID created this time as reply data in S114 of the flow chart of FIG. 3, the transceiver 12b sends the reply data to the current reply data. It is possible that the previous identification code ID reply data is repeatedly sent back without being updated. That is, in this case, since the engine control unit 10 receives the same identification code ID as the previous time, it is determined in S16 and the like that they do not match.

  It should be noted that even when there is a reception abnormality of the transceivers 10b and 12b or a calculation abnormality of the CAN controllers 10c and 12c, it can be determined in S16 that they do not match, but the possibility of these events occurring is low and can be ignored. Degree.

  In this way, the engine control unit 10 issues / transmits a different command CMD for each communication, causes the throttle valve control unit 12 to create and return the same identification code ID as the received command CMD, and also issues / transmits it. Since it is determined whether or not the received command CMD matches the received identification code ID, when the two do not match, the engine control unit 10 or the throttle valve control unit 12 repeatedly transmits or returns the same data. It is possible to detect that an abnormality has occurred. In addition, since communication abnormalities are detected by transmitting different types of data for each communication, there is no need to provide confirmation data or monitoring data separately in the transmission data, and therefore communication resources can be used effectively. Can do.

  The engine control unit 10 transmits the command CMD and the numerical value of the data type assigned thereto to the throttle valve control unit 12 as transmission data, and then transmits the transmission data to the throttle valve control unit 12 when the identification code ID is not received. Since it transmits again, it can detect reliably that said communication abnormality has arisen.

  Further, when the received identification code ID and the transmitted command CMD do not match, the engine control unit 10 transmits the transmission data to the throttle valve control unit 12 again, and the received identification code ID does not match the transmitted command CMD. Is detected for the predetermined time, and it is detected that the communication abnormality has occurred only when the two do not coincide with each other for a predetermined time. Therefore, the communication abnormality can be accurately detected. .

  The transmission data transmitted by the engine control unit 10 consists of a command CMD indicating the type of data and a numerical value of the corresponding data type, but the reply data returned by the throttle valve control unit 12 is only the identification code ID. The capacity of reply data can be reduced. For this reason, communication resources can be used effectively.

  In addition, when the engine control unit 10 detects that there is a communication abnormality, the engine control unit 10 stops data transmission, so that the control target of the throttle valve control unit 12, that is, the malfunction due to the communication abnormality of the throttle valve is not performed. Can be prevented in advance.

  Next, a communication abnormality detection apparatus according to a second embodiment of the invention will be described.

  FIG. 4 is a flowchart similar to FIG. 2 executed by the electronic control device on the transmission side of the communication abnormality detection device according to the second embodiment. FIG. 5 is a flowchart similar to FIG. 3 executed by the reception-side electronic control device of the communication abnormality detection device according to the second embodiment. In both figures, the same reference numerals are assigned to components common to the first embodiment, and description thereof is omitted.

  The description will focus on the differences from the first embodiment. In the second embodiment, the transmission-side engine control unit 10 transmits only the command CMD as transmission data, and the reception-side throttle valve control. The unit 12 is configured to send back reply data consisting of a numeric value of the data type corresponding to the identification code ID and the received command CMD.

  As shown in S12a of the flowchart of FIG. 4, the transmission-side engine control unit 10 transmits transmission data including only the command CMD to the reception-side throttle valve control unit 12. Further, as shown in S100a of the flow chart of FIG. 5, the receiving side throttle valve control unit 12 determines whether or not the command CMD has been received.

  In S <b> 114 a, reply data composed of a numerical value of the data type corresponding to the identification code ID and the received command CMD is created and returned to the engine control unit 10. Here, for example, if the received command CMD is 1, reply data composed of a numerical value of 1 identification code ID and battery voltage VB is generated and transmitted. For example, if the received command CMD is 2, reply data composed of the identification code ID of 2 and the numerical value of the hall current IH is created and transmitted.

  As shown in S14a of the flow chart of FIG. 4, it is determined whether or not the transmission-side engine control unit 10 has received return data consisting of an identification code ID and a numerical value.

  The processes of S20a, S28a, S36a, S48a, and S58a are the same as the processes executed in S12a. Further, the processing of S22a, S30a, S38a, S50a, and S60a is the same as the processing executed in S14a. The remaining configuration is the same as in the first embodiment.

  As described above, even in the communication abnormality detection device according to the second embodiment, as in the first embodiment, the engine control unit 10 issues and transmits a different command CMD for each communication, and sends it to the throttle valve control unit 12. The same identification code ID as that of the received command CMD is generated and returned, and it is determined whether or not the issued and transmitted command CMD matches the received identification code ID. The unit 10 or the throttle valve control unit 12 can detect that a communication abnormality has occurred such that data of the same content is repeatedly transmitted or returned. In addition, since communication abnormalities are detected by sending back different types of data for each communication, there is no need to provide confirmation or monitoring data separately in the reply data, and therefore communication resources can be used effectively. Can do.

  The reply data returned by the throttle valve control unit 12 includes an identification code ID indicating the data type and a numerical value of the data type corresponding to the received command CMD, but the transmission data transmitted by the engine control unit 10 is only the command CMD. Therefore, the capacity of transmission data can be reduced. For this reason, communication resources can be used effectively.

As described above, in the first and second embodiments of the present invention, a plurality of electronic control devices (engine control unit 10, throttle valve control unit) that periodically transmit and receive a plurality of types (n types) of data. 12) In the communication abnormality detection device for detecting a communication abnormality during 12), one of the plurality of electronic control devices (engine control unit 10) includes at least transmission data composed of a command CMD corresponding to the type of data for each communication. (Command CMD + numeric value or command CMD) is transmitted to the other (throttle valve control unit 12) (S12, S12a, etc.), and at least the identifier generated according to the received data type (command CMD) consisting reply data (identification code ID or identification code ID + numeric) and causes the reply from ( 102 from S114, S114a, etc.), when the reply data received (identifier. Identification code ID) has not been created in response to said type of transmission data (command CMD), the communication abnormality is detected to be ( S16, S40, S44, etc.).

  The one is configured to transmit the data to the other again (S12, S14, S12a, S14a, etc.) when the data for reply is not received after transmitting the data to the other.

When the received identifier (identification code ID) is not created according to the transmitted command CMD , the one transmits the transmission data to the other again, and the received identifier (identification code ID) Is detected according to the transmitted command CMD for a predetermined time, it is detected that the communication abnormality is present (S16, S34 to S42, S44, etc.).

According to the first embodiment of the present invention, the data transmitted by the one includes a command CMD indicating the type and a numerical value (command CMD + numerical value), and the one receives the received command CMD. the identifier (identification code ID) was prepared Ru is returned (S1 00 etc. S114) was composed as according to.

Further, in the second embodiment of the present invention, the other is from the reply data before Ki識 Besshi and numeric reply (identification code ID + number), the one, the the other, the received depending on the command CMD to create data for the reply (such S114a from S1 00a) reply is not Ru was as configuration.

Further, in the first and second embodiments of the present invention, the one is, when detecting that there is the communication abnormality, stops the transmission of the transmission data (S16, S40, S44, etc.) as configuration did.

  In the above description, the electronic control device on the transmission side is described as the engine control unit 10 and the electronic control device on the reception side is described as the throttle valve control unit 12. However, the reverse is also possible.

1 is a block diagram illustrating a plurality of electronic control devices including a communication abnormality detection device according to a first embodiment of the present invention. FIG. It is a flowchart which the electronic controller of the transmission side of the communication abnormality detection apparatus shown in FIG. 1 performs. It is a flowchart which the electronic control apparatus of the receiving side of the communication abnormality detection apparatus shown in FIG. 1 performs. It is the same flow chart as FIG. 2 which the electronic control apparatus of the transmission side of the communication abnormality detection apparatus based on 2nd Example of this invention performs. It is the same flow chart as FIG. 3 which the electronic control apparatus of the receiving side of the communication abnormality detection apparatus based on 2nd Example of this invention performs.

Explanation of symbols

  10: engine control unit, 12: throttle valve control unit, 14: communication line

Claims (6)

In a communication abnormality detection device that detects communication abnormality between a plurality of electronic control devices that periodically transmit and receive a plurality of types of data, one of the plurality of electronic control devices corresponds to at least the type of data for each communication. and the transmission data consisting of the command to send to the other, said the other, dissipate Shin return the reply data comprising a identifier is created according to the command at least received, in response to the identifier received by the command A communication abnormality detection device that detects that there is a communication abnormality when not created.   The communication abnormality detection device according to claim 1, wherein, after transmitting the data to the other, the one transmits the data to the other again when the reply data is not received. The one, when the identifier the received is not created in response to the command, the predetermined said with a transmission data to transmit back to the other, an identifier to the received is not created in response to the command The communication abnormality detection device according to claim 1, wherein when detecting continuously, the communication abnormality is detected. The transmission data to which the one transmits consists the command and numerical, the one, the the other, claim 1, wherein the benzalkonium will reply by generating the identifier in response to the received command 4. The communication abnormality detection device according to any one of items 1 to 3. The reply data to which the other replies, the front consists Ki識 Besshi and numerical, the one, the the other, wherein the benzalkonium will reply by creating data for the reply in response to the received command The communication abnormality detection device according to any one of claims 1 to 3. The one, when it detects that there is the communication abnormality, the communication abnormality detection apparatus according to any one of claims 1-5, characterized in that stops transmission of the transmission data.

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