JP5141377B2 - Program rewriting system - Google Patents

Description

  For example, the present invention relates to a program rewriting system that rewrites programs of a plurality of electronic control devices connected to an in-vehicle network through the in-vehicle network.

  As this type of program rewriting system (hereinafter also referred to as a replog system), for example, techniques disclosed in Patent Documents 1 and 2 have been known. Hereinafter, conventionally known techniques including the techniques described in these documents will be described.

  In a reprolog system generally known in the past, first, a reprolog device is connected to an in-vehicle network to which a plurality of electronic control devices are connected. Next, a predetermined operation is performed on the electronic control device (hereinafter also referred to as a replog target ECU) to be replogged by the riplog device. Then, the replog target ECU shifts its operation mode to the replog dedicated mode, and the replog device transmits program data to the replog target ECU according to the protocol of the in-vehicle network. In this way, the replogging device can rewrite the program stored and held by the replogging target ECU via the in-vehicle network.

  By the way, as an in-vehicle network protocol, for example, an event driven system that starts communication when an event occurs, such as LIN or CAN, is known. In this event-driven method, a plurality of nodes (in this case, a plurality of ECUs and reprogramming devices) connected to the in-vehicle network can transmit data at an arbitrary timing. However, there are cases where a plurality of ECUs and reprogramming devices attempt to transmit data at the same timing, in which case the data collide. In contrast, a plurality of ECUs and reprogramming devices connected to the in-vehicle network are given priorities in advance, and a plurality of ECUs and reprogramming devices transmit data according to the priorities, thereby avoiding data collisions. Will come to be. For example, by giving the highest priority to the reprogramming device in advance, the reprogramming device transmits the program data to the reprogram target ECU in preference to the other plurality of ECUs (executes the reprogramming). Will be able to. Therefore, it is possible to execute reprogram with high communication efficiency.

On the other hand, as an in-vehicle network protocol, for example, a time slot method for starting communication at a constant cycle, such as FlexRay, is also known. In the time slot method, a plurality of nodes (in this case, an ECU and a reprogramming device) connected to the in-vehicle network sequentially transmit data at regular intervals according to a predetermined communication schedule. In such a communication schedule, a static segment used for transmitting data necessary for vehicle function control and a dynamic segment used for transmitting data not directly related to vehicle function control are alternately repeated. Incidentally, one communication cycle is composed of one static segment followed by one dynamic segment. In such a time slot method, it is possible to perform high-speed and large-capacity communication as compared with LIN and CAN.
JP 2006-244129 A JP 2007-22362 A

  However, there is a concern that the following problems occur when reprologging is executed in the time slot method.

  Specifically, in the case of the above-described time slot method, if an attempt is made to replog the replog target ECU without changing the communication schedule of the non-replog target ECU, the replog target ECU continues the normal communication schedule. Therefore, the reprogramming device also performs communication according to the normal communication schedule. In this case, not only the reprogramming device and the reprogram target ECU but also the non-replog target ECU are allocated to the normal communication schedule, and the number of nodes allocated to the communication schedule increases. Therefore, the time during which the reprogramming apparatus can transmit the program data to the reprogramming target ECU is shortened, and the communication efficiency related to the reprogramming is reduced.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a program rewriting system capable of improving communication efficiency when rewriting a program of a program rewriting target control device via an in-vehicle network. There is to do.

In order to achieve such an object, according to the first aspect of the present invention, a plurality of electronic control devices are connected, and the plurality of connected electronic control devices sequentially transmit data at regular intervals according to a predetermined communication schedule. A time slot type in-vehicle network, and among a plurality of electronic control devices connected to the in-vehicle network, an electronic control device that can rewrite a stored program and is an electronic control device to be rewritten. the program of the target control device, said comprising: a program rewrite device for rewriting through the vehicle network, and a program rewrite start instruction means for instructing a program rewriting start of the program rewrite target control device, said program rewriting device, the program rewriting If you receive a start instruction, To establish a communication through the vehicle network only between the target control device, a program rewriting system for rewriting of the program, the multiple electronic control units connected to the in-vehicle network, stores A program rewritable control device, which is an electronic control device that cannot rewrite a program to be held, is included, and when the program rewritable control device receives an instruction to start the program rewriting, the program rewritable control device The plurality of electronic control devices connected to the in-vehicle network are electronic control devices that can rewrite a stored program and are not subject to program rewriting. A control device that is not subject to program rewrite is included, and this program is not subject to rewrite. The control device includes a communication control unit that stops communication via the in-vehicle network when the control device receives the instruction to start the program rewriting but determines that the control device is not an object control device, Communication via the network is stopped by the communication control unit of the non-program rewritable control device, and communication via the in-vehicle network of the non-program rewritable control device is performed by the communication control unit of the non-program rewritable control device. By being stopped, the program rewriting device establishes communication via the in-vehicle network only with the program rewriting target control device, and communication through the in-vehicle network is stopped by the communication control unit. The electronic control device is configured so that the vehicle-mounted network Communication via a workpiece is resumed, and the communication schedule is configured by repeating a communication cycle including a static segment composed of a fixed-width frame and a dynamic segment composed of a variable-width frame, and the program At the time of rewriting, the static segment is set to a minimum number, and the remaining dynamic segments are used .

  In such a configuration as the program rewriting system, the program rewriting device establishes communication via the in-vehicle network only with the program rewriting target control device when the program rewriting start instruction is received. Only the device and the program rewriting device participate in the communication schedule via the in-vehicle network. As a result, the number of electronic control devices assigned to the communication schedule is reduced as compared with the case where a control device other than the program rewrite target control device also participates. Therefore, the program rewrite device transmits a program to the program rewrite target control device. The time you can do is longer. Therefore, communication efficiency can be improved.

  A plurality of electronic control devices connected to the in-vehicle network include a program rewritable control device that is an electronic control device that cannot rewrite a stored program and a program rewrite target even if a stored program can be rewritten. Also included are non-program-rewriteable control devices that are not electronic control devices.

In the present invention, when the program rewrite disable control device receives a program rewrite start instruction, communication via the in-vehicle network is stopped by the communication control unit. You will not be able to participate .

In addition, when a program rewrite target control device receives a program rewrite start instruction, communication via the in-vehicle network is stopped by the communication control unit. You will not be able to participate. This ensures that only the program rewritten control apparatus and a program rewrite device ensures that it is possible to participate in the communication via the in-vehicle network.

  The program rewrite disabled control device or the non-program rewrite target control device may erroneously recognize that it has received a program rewrite start instruction from the program rewrite start instructing means. In this case, since the communication control unit stops the program rewritable control device or the non-program rewritable control device, the communication device is disconnected from the communication via the in-vehicle network.

However, in the present invention, an electronic control device in which the communication via the in-vehicle network has been stopped by the communication control unit from the communication is stopped after a predetermined period of time, it resumes communication through the vehicle network . As a result, even if the communication via the in-vehicle network is disconnected due to misrecognition that the program rewrite start instruction has been received, the program rewrite disabled control device or the program rewrite non-control target control after a predetermined period of time The device can participate in communication via the in-vehicle network.

Further , in the present invention, the communication schedule is configured by repeating a communication cycle including a static segment including a fixed-width frame and a dynamic segment including a variable-width frame. , the static segment is set to the minimum number (e.g. "2"), the remaining of the dynamic segment Ru is used.

  This makes it possible to increase the number of dynamic segments to be used for program data transmission during program rewriting, unlike during normal times other than during program rewriting, improving communication efficiency related to program rewriting. Can be planned.

  Note that it is not always necessary to set the minimum number of static segments when rewriting a program. In short, when the program is rewritten, if the dynamic segment area is set wider than the normal time other than the time when the program is rewritten, and the dynamic segment is used to transmit the program data, the communication efficiency related to the program rewrite is improved. Can be planned.

(First embodiment)
Hereinafter, a first embodiment of a reprogramming system (program rewriting system) according to the present invention will be described.

  As shown in the drawings and as will be described in detail below, the reprogramming system according to the present embodiment is also connected to a plurality of electronic control units (hereinafter also referred to as ECUs) in the same manner as the prior art described above. A time slot type in-vehicle network in which a plurality of these connected ECUs sequentially transmit data every predetermined time according to a predetermined communication schedule, and a program for a reprogram target ECU among a plurality of ECUs connected to the in-vehicle network. And a reprogramming device for rewriting via an in-vehicle network. However, in the present embodiment, unlike the prior art described above, when receiving a program rewrite start instruction, the reprogramming device establishes communication via the in-vehicle network only with the reprogramming target ECU, and the program Rewrite. Thereby, in rewriting the program of the reprogram target ECU through the in-vehicle network, the communication efficiency is being improved.

  FIG. 1A is a block diagram showing an overall configuration in a state where the reprogramming device is not connected to the communication line, and FIG. 1B is an overall configuration in a state where the reprogramming device is connected to the communication line. FIG. As shown in FIGS. 1A and 1B, the replog system 1 includes a plurality of ECUs 10, a replog device 11, and a communication line (vehicle network) 12 to which the ECU 10 and the replog device 11 are connected. It is mounted on a vehicle (not shown).

  The plurality of ECUs 10 include, for example, a reprogram target ECU (program rewrite target control device) that is an ECU that can store and hold a program in a built-in flash memory and the like and can rewrite the program, For example, an ECU that can store and hold a program in a built-in flash memory or the like and can rewrite the program, but is not a program rewrite target ECU (non-program rewrite target control device), and a mask ROM or the like, for example A non-replogable ECU (program rewritable control device), which is an ECU that cannot store the program in the nonvolatile memory and cannot rewrite the program, is included. In addition, since the replog target ECU and the non-replog target ECU have a replog function, these ECUs may be collectively referred to as replogable ECUs in the following. Moreover, the non-replogging ECU does not have a replogging function.

  Further, in the communication between the plurality of ECUs 10 and the reprogramming device 11, a so-called time slot method is adopted as the communication protocol, for example, FlexRay, which sequentially transmits data at regular intervals according to a predetermined communication schedule. .

  FIG. 2A shows an example of a communication schedule when the reprogramming device is not connected, that is, a normal communication schedule. FIG. 2B shows a communication schedule when the reprogramming device is connected, that is, a communication schedule when reprogramming. An example is shown.

  Among these, as shown in FIG. 2A, the normal communication schedule includes a plurality of (for example, “6”) fixed-width frames F11, and transmits data necessary for vehicle function control. Alternately composed of a static segment SS1 used for the transmission and a dynamic segment DS1 made up of a plurality of (for example, “2”) variable width frames F12 and used for data transmission not directly related to vehicle function control. It has been repeated.

  Similarly, as shown in FIG. 2B, the communication schedule at the time of replogging is composed of a plurality of (for example, “2”) fixed-width frames F21 and transmission of data necessary for vehicle function control. The static segment SS2 used for the transmission and the dynamic segment DS2 used for transmission of data not directly related to the vehicle function control composed of a plurality of (for example, “8”) variable width frames F22 are alternately arranged. It has been repeated.

  Note that, in the communication schedule at the time of replogging, the static segment SS2 is composed of, for example, “two” frames F21. In this embodiment, since FlexRay is adopted as a communication protocol, the number of frames constituting the static segment SS2 is “2” which is the minimum number due to the restriction. In the time slot communication protocol, generally, the number of nodes that establish communication at the same time is required as the minimum number of static segments.

  For convenience of illustration, FIG. 2 (a) shows only one communication cycle C1 composed of one static segment SS1 and one dynamic segment DS1 subsequent thereto, and FIG. 2 (b). Shows only one communication cycle C2 composed of one static segment SS2 followed by one dynamic segment DS2, but in reality, these communication cycles C1 and C2 are repeated.

  Here, FIG. 3A shows an internal configuration of the reprogramming device 11 constituting the reprogramming system 1. As illustrated in FIG. 3A, the replogging device 11 includes a replog start instruction unit 110, a communication control unit (communication controller) 111, and a storage holding unit 112.

  Among these, the replog start instructing unit 110 sequentially determines, for example, whether or not a predetermined operation described later is performed by the user of the replogging system, and if it is determined that the predetermined operation has been performed, the storage holding unit 112 stores that fact. While holding, a reprogram preparation request is transmitted to the plurality of ECUs 10 connected to the communication line 12 via the communication control unit 111. The replog start instruction unit 110 also acquires information about which of the plurality of ECUs 10 is the replog target ECU, stores and holds the information in the storage holding unit 112, and also connects the plurality of ECUs connected to the communication line 12. The information is transmitted to the ECU 10 via the communication control unit 111. Further, the replog start instruction unit 110 sequentially determines whether or not a replog start operation is performed, and when determining that the replog start operation is performed, the communication control unit 111 controls the plurality of ECUs 10 connected to the communication line 12. The program rewrite start is instructed via

  The communication control unit 111 executes a process during communication that actually transmits a replog preparation request and information about the replog target ECU (replog target ECU information) to the ECU 10 via the communication line 12. Further, the communication control unit 111 starts preparation for establishing communication according to a normal communication schedule (see FIG. 2A), or communicates according to a communication schedule during re-logging (see FIG. 2B). The process at the time of starting which determines at the time of starting of the said apparatus 11 whether the preparation for establishment of this is started is performed. Furthermore, the communication control unit 111 transmits the control program data (master data) that is the data itself to be transmitted to the replog target ECU and is stored and held in the storage holding unit 112 to the replog target ECU via the communication line 12. Execute reprogram processing.

  The memory holding unit 112 includes control program data (master data) that is the reprogram preparation request, the reprogram target ECU information, the communication schedule information at normal time, the communication schedule information at the reprogram time, and the data itself to be transmitted to the reprogram target ECU. Is retained.

  FIG. 3B shows the internal configuration of the replogable ECU (that is, the replog object ECU 10a and the replog object ECU 10b). As shown in FIG. 3B, the replog target ECU 10a and the non-replog target ECU 10b each include a communication control unit (communication controller) 101a and a memory holding unit 102.

  Among these, the communication control unit 101a receives the replog preparation request and the replog target ECU information transmitted by the communication control unit 111 via the communication line 12, and receives the received replog preparation request and replog target ECU information. Is stored and held in the memory holding unit 102. Whether the communication control unit 101a starts preparations for establishing communication according to a normal communication schedule, starts preparations for establishing communication according to a communication schedule during re-logging, or stops preparations for establishing communication , Start-up processing determined when the ECUs 10a and 10b are started up is executed. Furthermore, the communication control unit 101a receives master data transmitted from the re-prolog device 11 via the communication line 12, and executes re-prog processing that rewrites the program stored in the storage holding unit 102 with the master data.

  The storage holding unit 102 stores and holds the replog preparation request, the replog target ECU information, information on a normal communication schedule, information on a communication schedule at replogging, and a control program.

  As described above, the reprogrammable ECU has “communication schedule information at normal time”, “communication schedule information at reprogramming”, “communication activation process switching function (normal communication schedule, communication schedule at reprogramming, and stop of communication start) And “replogging function”.

  Further, FIG. 3C shows an internal configuration of the non-replogging ECU 10c. As shown in FIG. 3C, the non-replogable ECU 10c includes a communication control unit (communication controller) 101c and a memory holding unit 102. Among these, the communication control unit 101c receives a reprogram preparation request transmitted via the communication line 12 by the communication control unit 111, and stores and holds the received reprogram preparation request in the storage holding unit 102. Execute. Further, the communication control unit 101c executes a start-up process that is determined when the ECU 10c is started as to whether to start preparation for establishment of communication or to stop preparation for establishment of communication in a normal communication schedule. Further, the storage holding unit 102 stores and holds the replog preparation request, information on a normal communication schedule, and a control program.

  In this way, the non-replogable ECU has “normal communication schedule information” and “communication activation process switching function (switching the normal communication schedule and communication start stop)”.

  FIG. 4 shows a list of execution procedures for reprograms using the reprogram system 1 configured as described above. As shown in FIG. 4, when the replogging device 11 is not connected (see FIG. 1A), the user of the riplogging system 1 first turns on the ignition switch as step 1. At this time, the plurality of ECUs 10 connected to the in-vehicle network (communication line 12) start preparation for establishing communication according to a normal communication schedule, and communication is eventually established.

  When communication is established according to the normal communication schedule, the user of the reprogram system 1 then connects the relog device 11 as procedure 2 and transmits a reprogram preparation request and also transmits reprogram target ECU information. At this time, all the ECUs 10 connected to the in-vehicle network (communication line 12) receive the reprogram preparation request and store and hold them in the storage holding unit. Of the plurality of ECUs 10, the reprogrammable ECU also obtains reprogram target ECU information, and stores and holds it in the storage holding unit.

  When the replog preparation request and the replog target ECU information are transmitted, the user of the replog system 1 next turns off the ignition switch and turns it on again (predetermined operation) as step 3. At this time, the replogging device 11 and the replogging target control device 10a start preparation for establishing communication based on the communication schedule at the time of replogging based on the information received in advance. On the other hand, the non-replogging ECU 10b and the non-replogging ECU 10c stop the preparation for establishment of communication based on the information received in advance. Thereby, communication will be established only between the replogging device 11 and the replogging target ECU 10a according to the communication schedule during replogging.

  Next, the user of the replog system 1 performs a replog start operation on the replog device 11 as step 4. Then, the replogging device 11 starts transmitting control program data to the replog target ECU 10a, and the program data of the replog target ECU 10a is rewritten (replogging is executed).

  When the replog is executed in this way, the user of the replog system 1 turns off the ignition switch and turns it on again as step 5. At this time, the plurality of ECUs 10 connected to the in-vehicle network (communication line 12) starts preparation for establishment of communication according to a normal communication schedule. Eventually, communication via the in-vehicle network will be established.

  FIG. 5A is a flowchart showing the processing procedure of the in-communication process executed by the reprogramming device 11, and FIG. 5B is a flowchart showing the processing procedure of the startup process executed by the reprologging device 11. is there.

  For example, after the replogging device 11 is connected to the communication line 12 and communication is established (the ignition switch is turned on), the replogging device 11 executes the in-communication process shown in FIG. Specifically, as shown in FIG. 5A, when the in-communication process is started, the replogging apparatus 11 first performs a replog preparation operation (see step 2 in FIG. 4) as a determination process in step S111. stand by.

  Here, when it is determined that the replog preparation operation has been performed (“Yes” in the determination process of step S111), the replogging device 11 sends the ECU 10 connected to the in-vehicle network (communication line 12) as the subsequent process of step S112. Send a reprogram preparation request. When the replog preparation request is transmitted, the replog device 11 transmits the replog target ECU information to the ECU 10 connected to the in-vehicle network (communication line 12) as the subsequent step S113. At this time, only the reprogrammable ECU stores and holds the reprogram target ECU information in each storage unit. The replogging device 11 sets a replog preparation request flag in the storage holding unit 112 as the processing of the subsequent step S114, and temporarily terminates the in-communication processing.

  In this way, when the user performs a replog preparation operation to the replogging device 11 while the ignition switch is turned on, the replogging device 11 transmits a replog preparation request and replog target ECU information (S111 → S112 → S113 → S114).

  Further, for example, when the ignition switch is turned on, the replogging device 11 executes the startup process shown in FIG. Specifically, as shown in FIG. 5B, when the startup process is started, the replog device 11 first sets the replog preparation request flag stored and held in the storage holding unit 112 as the determination process in step S121. Judge whether or not. Here, when it is determined that the replog preparation request flag is set (“Yes” in the determination process of step S121), the replogging apparatus 11 resets the replog preparation request flag and continues as the process of step S122. As processing of step S123, preparation for establishment of communication is started according to the communication schedule at the time of re-logging. On the other hand, when determining that the replog preparation request flag is not set (“No” in the determination process of step S121), the replogging apparatus 11 prepares for establishment of communication according to the normal communication schedule as the process of step S124. To start. Then, the reprogramming device 11 establishes communication according to each communication schedule.

  In this way, when the ignition switch is turned on, the reprogramming device 11 prepares for establishment of communication according to the communication schedule at the time of reprogramming when a reprogram preparation request has been transmitted while the ignition switch was on previously. At the same time, the transmission storage of the replog preparation request is deleted (S121 → S122 → S123). In addition, when the ignition switch is turned on, the replogging device 11 establishes communication according to the normal communication schedule when the fact that the replog preparation request was transmitted while the ignition switch was turned on is not stored. Preparation is started (S121 → S124).

  FIG. 6A is a flowchart showing the processing procedure of the in-communication process executed by the reprogrammable ECU, and FIG. 6B is a flowchart showing the processing procedure of the startup process executed by the reprogrammable ECU. is there.

  For example, after the reprogrammable ECU is connected to the communication line 12 and communication is established, the reprogrammable ECU executes the in-communication process shown in FIG. Specifically, as shown in FIG. 6A, when the in-communication process is started, the reprogrammable ECU first receives a reprogram preparation request (see procedure 2 in FIG. 4) as the determination process in step S131. stand by.

  Here, when it is determined that the replog preparation request has been received (“Yes” in the determination process of step S131), the replogable ECU sets the replog preparation request flag in the storage holding unit 102 as the subsequent process of step S132. Further, the reprogrammable ECU stores and holds the reprogram target ECU information in the memory holding unit 102. Then, the in-communication process is temporarily terminated.

  In this way, when the reprogrammable ECU receives a reprogram preparation request from the reprogramming device 11 while the ignition switch is on, the reprogrammable ECU stores and holds that fact, and whether the reprogram target is its own node or Whether it is another node is also stored and held (steps S131 → S132 → S133).

  In addition, the re-programmable ECU executes a startup process shown in FIG. 6B when, for example, an ignition switch is turned on. Specifically, as shown in FIG. 6B, when the startup process is started, the reprogrammable ECU first sets the reprogram preparation request flag stored in the storage holding unit 102 as the determination process in step S141. Judge whether or not. Here, when it is determined that the replog preparation request flag is set (“Yes” in the determination process of step S141), the replogable ECU determines that the replogable ECU is to be reprogrammed as the subsequent process of step S142. Determine whether or not.

  When it is determined that the replogable ECU is the replog target ECU 10a ("Yes" in the determination process of step S142), the replog target ECU 10a resets the replog preparation request flag and continues to step S144 as the process of step S143. As a process of (1), preparation for establishment of communication is started by a communication schedule at the time of re-logging. In this way, when the ignition switch is turned on, a reprogram preparation request is received while the previous ignition switch is on, and when the reprogrammable ECU is determined to be a reprogram target ECU Then, preparation for establishment of communication is started according to the communication schedule at the time of re-logging (steps S141 → S142 → S143 → S144).

  On the other hand, when it is determined that the reprogrammable ECU is the non-replog target ECU 10b ("No" in the determination process of step S142), the non-replog target ECU 10b resets the reprolog preparation request flag as the subsequent process of step S145. In subsequent step S146, preparation for establishing communication is stopped. In this way, when the ignition switch is turned on, a reprogram preparation request is received while the previous ignition switch is on, and when the reprogrammable ECU is determined to be a non-replog target ECU Stops preparation for establishing communication (steps S141 → S142 → S145 → S146).

  On the other hand, when it is determined that the replog preparation request flag is not set (“No” in the determination process of step S141), the reprogrammable ECU prepares for establishment of communication in the normal communication schedule as the process of step S147. To start. In this way, when the ignition switch is turned on, if it is determined that no reprogram preparation request has been received while the previous ignition switch is on, communication is performed according to the normal communication schedule. Preparation for establishment of (1) is started (steps S141 → S147).

  FIG. 7A is a flowchart showing the processing procedure of the in-communication process executed by the non-replogging ECU 10c, and FIG. 7B is a flowchart showing the processing procedure of the startup process executed by the non-replogging ECU 10c. is there.

  For example, after the non-replogging ECU 10c is connected to the communication line 12 and communication is established, the non-replogging ECU 10c executes the in-communication process shown in FIG. Specifically, as shown in FIG. 7A, when the in-communication process is started, the replog-impossible ECU first receives a replog preparation request (see procedure 2 in FIG. 4) as a determination process in step S151. stand by. Here, when it is determined that the replog preparation request has been received (“Yes” in the determination process of step S151), the replog disable ECU 10c sets the replog preparation request flag in the storage holding unit 102 as the subsequent process of step S152. The in-communication process is temporarily terminated. Note that the non-replogable ECU 10c does not have a replogging function, so it is not necessary to store and hold the replog target ECU information. In this way, when a replog preparation request is received from the replogging device 11 while the ignition switch is on, the received information is stored and held (steps S151 to S152).

  Further, for example, when the ignition switch is turned on, the re-progress impossible ECU 10c executes a startup process shown in FIG. 7B. Specifically, as shown in FIG. 7B, when the startup process is started, the replog disabled ECU 10c first sets the replog preparation request flag stored and held in the storage holding unit 102 as the determination process in step S161. Judge whether or not. Here, when it is determined that the replog preparation request flag is set (“Yes” in the determination process of step S161), the replog disable ECU 10c resets the replog preparation request flag and continues as the process of step S162. In step S163, preparation for establishing communication is stopped. Thus, when the ignition switch is turned on, if a reprogram preparation request is received while the previous ignition switch is on, preparation for establishing communication is made according to the communication schedule at the time of reprogramming. And the storage of reception of the replog preparation request is deleted (steps S161 → S162 → S163).

  On the other hand, when it is determined that the replog preparation request flag is not set (“No” in the determination process of step S161), the replog disable ECU 10c prepares for establishment of communication in the normal communication schedule as the process of step S164. To start. In this way, when the ignition switch is turned on, if a reprogram preparation request has not been received while the previous ignition switch was on, communication is established according to the normal communication schedule. Preparation is started (steps S161 → S164).

  As described above, in the first embodiment, when receiving a program rewrite start instruction, the reprogramming device 11 establishes communication with the reprogramming target ECU 10a only via the communication line 12. I decided to rewrite the program. As a result, the number of ECUs assigned to the communication schedule is reduced compared to the case where ECUs other than the replog target ECU 10a (non-replog target ECU 10b and non-replogable ECU 10c) also participate in communication. The time that can be transmitted to the program becomes longer. Therefore, communication efficiency can be improved.

  In the first embodiment, when the reprogrammable ECU 10c receives a program rewrite start instruction, the ECU 10c stops preparing for establishment of communication. As a result, it is possible to reliably establish communication only between the replogging device 11 and the replogging target ECU 10a.

  In the first embodiment, when the reprogrammable ECU receives an instruction to start program rewriting but determines that it is not a replog target, that is, determines that it is a non-replog target ECU 10b, it prepares for establishment of communication. It was decided to stop. This also ensures that communication can be established only between the replogging device 11 and the replogging target ECU 10a.

  In the first embodiment, the static segment SS2 constituting the communication cycle C2 in the communication schedule at the time of reprogramming is set to the minimum number. As a result, the number of dynamic segments DS2 can be increased, so that it is possible to further improve the communication efficiency related to reprogramming.

  Note that the reprogramming system and the reprogramming device according to the present invention are not limited to the configurations exemplified in the above embodiments, and can be implemented with various modifications without departing from the spirit of the present invention. It is. In other words, for example, the following embodiment can be implemented by appropriately changing the above embodiment.

  In the first embodiment, after the replog of the replog target ECU 10a is finished, the user of the replog system 1 turns off the ignition switch and turns it on again as shown in step 5 in FIG. As a result, the non-replog target ECU 10b and the non-replogging ECU 10c have resumed preparations for establishing communication in the normal communication schedule. However, the present invention is not limited to this. In addition, for example, in consideration of failsafe, the non-replog target ECU 10b and the non-replogging ECU 10c may resume preparation for establishment of communication after a lapse of a predetermined time after preparation for establishment of communication is stopped. As a result, even if the communication is disconnected due to the misrecognition that the program rewrite instruction has been received, the non-replog target ECU 10b and the non-replogable ECU 10c start preparations for establishing communication after a predetermined period. Will eventually be able to participate in communications.

  Incidentally, even if the replog of the replog target ECU 10a does not end within a predetermined period, and the replog non-rep ECU 10b and the replog impossible ECU 10c start preparations for establishing communication, there is no problem for the following reason. That is, when the replog does not end within the predetermined period, communication is still established between the replogging device 11 and the replog target ECU 10a according to the communication schedule at the time of replogging. In this state, even if the ECU 10b that is not a replog or the ECU 10c that cannot be replogged starts preparing to establish communication in the normal communication schedule, the communication schedule is different from the communication schedule that has already been established. It cannot be established. Therefore, communication is maintained between the replogging device 11 and the replogging target ECU 10a according to the communication schedule during replogging. Then, the non-replogging ECU 10b and the non-replogging ECU 10c, when communication cannot be established according to the normal communication schedule, start preparations for establishment of communication again according to the normal communication schedule after a predetermined period. As a result, the replog is eventually terminated, and the replog-excluded ECU 10b and the replog-disabled ECU 10c can participate in communication.

(Second Embodiment)
Hereinafter, a second embodiment of the reprogramming system and the reprologging device according to the present invention will be described.

  As shown in the drawings and as will be described in detail below, the reprologging device according to the present embodiment also has a configuration according to the first embodiment. However, in the present embodiment, the non-replog target ECU and the non-replogging ECU start preparation for establishing communication in the normal communication schedule (first communication schedule), and the reprogram target ECU performs communication schedule (second communication) 1st start time which is the time to start preparation for establishing communication in the schedule), and 2nd start which is the time when the reprogramming device starts preparation for establishing communication in the communication schedule at the time of relogging (second communication schedule) The start timing control unit further controls each of the timings. When receiving the program rewrite start instruction, the start timing control unit delays the first start time from the second start time, Communication is established only between them.

  FIG. 8A is a schematic diagram showing the internal configuration of the reprologging device 11a. As shown in FIG. 8A, the replogging device 11a includes a replog start instructing unit 110, a communication control unit (communication controller) 111, a storage holding unit 112, a start timing control unit 113, a bus driver BD1, a bus driver BD2, and An analog switch 114 and the like are included. Among these, the replog start instructing unit 110, the communication control unit 111, and the storage holding unit 112 are the same as those in the first embodiment, and thus redundant descriptions are omitted here.

  The start time control unit (start time control means) 113 is constituted by, for example, a microcomputer, and the non-replogging target ECU 10b and the non-replogging ECU 10c start preparations for establishing communication based on a normal communication schedule (first communication schedule). The first start time at which the reprogram target ECU 10a starts preparations for establishing communication according to the communication schedule (second communication schedule) at the time of relogging, and preparations for establishment of communication according to the communication schedule (second communication schedule) at which the reprogramming device 11a is relogged. The second start time for starting the operation is controlled.

  Specifically, as shown in FIG. 8A, the start timing control unit 113 is connected to the communication line 12 via the bus driver BD2, and by using the TxD line of the bus driver BD2, The state is set to the same active state as that in which data is exchanged, or the state of the communication line 12 is set to the same idle state as that in which data is not exchanged.

  Further, as shown in FIG. 8A, the start timing control unit 113 is connected to an analog switch 114 interposed in the RxD line between the communication control unit 111 and the bus driver BD1. The start time control unit 113 turns off the analog switch 114 and opens the RxD line, thereby causing the communication control unit 111 (the reprogramming device 11a) to misrecognize that the state of the communication line 12 remains in the idle state. Is possible. On the other hand, the start timing control unit 113 turns on the analog switch 114 and shorts the RxD line, so that the communication control unit 111 (the reprogramming device 11a) is in the active state or the idle state. It is possible to detect whether or not.

  Then, the start timing control unit 113 places all the ECUs 10 on standby for communication establishment by placing the communication line 12 in an active state, while idle while the communication line 12 is actually in an active state. It is misrecognized as a state, and the reprogramming device 11a starts preparation for establishing communication. Thus, the first start time is delayed from the second start time.

  FIG. 8B is a schematic diagram illustrating an internal configuration of the replogable ECU (the replog object ECU 10a and the replog object ECU 10b). As shown in FIG. 8B, the replog target ECU 10a and the non-replog target ECU 10b each include a communication control unit (communication controller) 101a and a memory holding unit 102a.

  Among these, the communication control unit 101b has a configuration in conformity with the previous communication control unit 101a, and executes processing during communication (FIG. 6A). However, unlike the previous communication control unit 101a, the communication control unit 101b starts preparations for establishing communication with the normal communication schedule or starts preparations for establishing communication with the communication schedule at the time of re-logging. For this, a startup process (described later in FIG. 11A) determined when the replog target ECU 10a and the replog target ECU 10b are started is executed.

  In this way, the reprogrammable ECU includes the “normal communication schedule information”, “reprolog communication schedule information”, “communication activation process switching function (switching the normal communication schedule and reprogress communication schedule)” and It has a “replogging function”.

  FIG. 8C is a block diagram showing an internal configuration of the non-replogging ECU 10c. As shown in FIG. 8C, the non-replogging ECU 10c includes a communication control unit (communication controller) 101c and a memory holding unit 102. Among these, the communication control unit 101d executes startup processing that starts preparation for establishing communication when the ECU 10c is started according to a normal communication schedule. The storage holding unit 102d stores and holds information on a normal communication schedule and a control program. As described above, the non-replogable ECU has “normal communication schedule information”.

  In the present embodiment, the communication schedule shown in FIG. 13A is adopted as the normal communication schedule, and the communication schedule shown in FIG. 13B is adopted as the communication schedule at the time of reprogramming. .

  Among these, as shown in FIG. 13A, the normal communication schedule includes a plurality of (for example, “6”) fixed-width frames F11 and transmits data necessary for vehicle function control. Alternately composed of a static segment SS1 used for the transmission and a dynamic segment DS1 made up of a plurality of (for example, “2”) variable width frames F12 and used for data transmission not directly related to vehicle function control. It has been repeated.

  Similarly, as shown in FIG. 13 (b), the communication schedule at the time of reprogressing is composed of a plurality of (for example, “2”) fixed-width frames F21 and transmits data necessary for vehicle function control. The static segment SS2 used for the transmission and the dynamic segment DS2 used for transmission of data not directly related to the vehicle function control, which are composed of a plurality of (for example, “7”) variable-width frames F22. It has been repeated.

  As can be seen from the comparison between FIGS. 13A and 13B, although the size of the frame X and the size of the frame Y are different, the sizes of the communication cycle C1 and the communication cycle C2 are the same. Accordingly, the non-replog target ECU 10b can receive the frame X, but the reception interval of the frame X is different from the communication cycle C2, and therefore communication establishment fails.

  As can be seen from the comparison between FIGS. 13A and 13B, the sizes of the communication cycle C1 and the communication cycle C2 are the same, but the size of the frame X and the size of the frame Y are different. Therefore, the non-replog target ECU 10b fails to establish communication (cannot participate in communication) because it cannot receive the frame Y of the communication schedule at the time of replogging, as will be described later.

  The reprogramming device 11a will be further described. Note that the reprogramming device 11a cannot transmit a communication start signal when it detects that the communication line 12 is in an active state at the RxD terminal before transmitting a communication start signal described later. However, if the state of the RxD line is open, the reprogramming device 11a recognizes that the communication line 12 is in an idle state regardless of the actual state of the communication line 12, and therefore can transmit this communication start signal. .

  When the replog start operation is performed, the replog device 11a rewrites the program by establishing communication via the in-vehicle network (communication line 12) only with the replog target ECU 10a. Specifically, the replogging device 11a transmits a communication start signal to the communication line 12, for example, after a period twice as long as the communication cycle C2 has elapsed since the replog start operation was performed, and the communication cycle that transmitted this communication start signal. After the next communication cycle, a startup frame is periodically transmitted. The other nodes (the replog target ECU 10a and the non-replog target ECU 10b and the replog impossible ECU 10c) receive such a start-up frame, and communication is established by synchronizing with the periodic timing. Note that the transmission interval between the communication start signal and the startup frame transmitted by the reprogramming device 11a is less than one cycle time of the communication cycle C2, and the periodic transmission of the startup frame depends on one cycle time of the communication cycle C2. Periodic transmission.

  Here, for example, if the start-up frame is destroyed by the active output of the reprogramming device 11a, the other nodes cannot synchronize and communication cannot be established. Therefore, after transmitting the communication start signal, the communication line 12 needs to be returned to the idle state before transmitting the first startup frame. This timing is an essential timing for returning to the idle state.

  Incidentally, even if the communication start signal overlaps with the active output of the reprogramming device 11a, the communication establishment is not affected. The communication start signal actually has the same meaning as the active output, and the other nodes merely recognize that the active state continues. Regardless of whether the other node is in the active state by the communication start signal or in the active state by the reprogramming device 11a, the active state is canceled, that is, a period twice as long as each communication cycle after becoming the idle state. After that, the node can transmit a communication start signal. Therefore, as the active state by the reprogramming device 11a continues, the transmission of the communication start signal of the other node is delayed.

  FIG. 9 shows a list of execution procedures of replogs using the replogging device 11a configured as described above. As shown in FIG. 9, when the reprogramming device 11a is not connected (see FIG. 1A), the user of the reprogramming device 11a first turns on the ignition switch as step 1. At this time, all the ECUs 10 connected to the in-vehicle network (communication line 12) start preparation for establishment of communication according to a normal communication schedule (see FIG. 2A), and communication is eventually established.

  When communication is established in the normal communication schedule, the user of the reprogramming device 11a then connects the reprogramming device 11a as step 2 and transmits a reprogramming preparation request, and information on the reprogramming target ECU. (Replog target ECU information) is also transmitted. At this time, among the ECUs 10 connected to the in-vehicle network (communication line 12), the reprogrammable ECU receives the reprogram preparation request and stores it in the storage unit. Further, the replogable ECU also acquires replog target ECU information and stores it in the memory holding unit.

  When the replog preparation request and the replog target ECU information are transmitted, the user of the replogging device 11a next turns off the ignition switch and turns it on again (predetermined operation) as step 3. At the time of turning on the ignition switch, the reprogramming device 11a activates the communication line 12 through the bus driver BD2, and turns off the analog switch 114 to open the RxD line of the bus driver BD1. Then, when the ignition switch is turned on again, the replog target ECU 10a attempts to start preparation for establishing communication based on the communication schedule (see FIG. 2B) at the time of replogging based on information received in advance. However, since the communication line 12 is in the active state, the reprogram target ECU 10a is in a waiting state (characteristics of the communication control unit). Further, the non-replogging ECU 10b and the non-replogging ECU 10c try to start preparations for establishing communication on the normal communication schedule (see FIG. 2A) based on information received in advance. However, because the communication line 12 is in the active state, the non-replogging ECU 10b and the non-replogging ECU 10c are in a waiting state (characteristics of the communication control unit).

  Next, the user of the replogging device 11a performs a replogging start operation on the replogging device 11a as procedure 4. The reprogramming device 11a puts the communication line 12 of the bus driver BD2 in an idle state and turns on the analog switch 114 to short-circuit the RxD line of the bus driver BD1. Thereafter, the reprogramming device 11 a outputs a communication start signal to the communication line 12.

  At this time, the replogging device 11a first establishes communication according to the communication schedule at the time of replogging, and only the replogging target ECU 10a having the same communication schedule can establish communication (participate in communication). On the other hand, the non-replog target ECU 10b and the non-replogging ECU 10c try to establish communication (participate in communication) in the normal communication schedule, but cannot establish communication (participate in communication) because the communication schedule is different. . Thus, communication is established only between the reprogramming device 11a and the reprogramming target ECU 10a, and the reprogramming device 11a starts transmitting control program data to the reprogramming target ECU 10a, and the program data of the reprogramming target ECU 10a is rewritten (reprogramming is executed). It will be.

  When the replog is executed, the user of the replogging device 11a turns off the ignition switch and turns it on again as step 5. At this time, all ECUs 10 connected to the in-vehicle network (communication line 12) start preparations for establishing communication according to a normal communication schedule. Eventually, communication via the in-vehicle network will be established.

  FIG. 10 is a flowchart showing the processing procedure of the startup process executed by the reprologging device 11a.

  For example, when the ignition switch is turned on, the replogging device 11a performs the startup process shown in FIG. Specifically, as shown in FIG. 10, when the startup process is started, the replogging apparatus 11a first determines whether or not the replog preparation request flag stored and held in the storage holding unit 112 is set as the determination process in step S211. Determine whether. Here, when it is determined that the replog preparation request flag is set (“Yes” in the determination process of step S211), the replogging device 11a resets the replog preparation request flag and continues as a process of step S212. In step S213, the communication line 12 is activated through the bus driver BD2, and the analog switch 114 is turned on to open the RxD line of the bus driver BD1.

  In this way, when the ignition switch is turned on, the reprogramming device 11a deletes the storage of the transmission of the reprogramming preparation request and transmits the reprogramming preparation request when the ignition switch was previously turned on. The communication line 12 is activated through the bus driver BD2, and the RxD line of the bus driver BD1 is opened (S211 → S212 → S213).

  Thereby, the reprogram target ECU 10a tries to start preparation for establishment of communication in the communication schedule at the time of reprogramming. However, since the communication line 12 is in an active state, the reprogram target ECU 10a is in a waiting state (characteristics of the communication control unit). Further, the non-replogging ECU 10b and the non-replogging ECU 10c try to start preparations for establishing communication according to a normal communication schedule. However, because the communication line 12 is in the active state, the non-replogging ECU 10b and the non-replogging ECU 10c are in a waiting state (characteristics of the communication control unit).

  Then, the replogging device 11a waits until a replogging start operation is performed through the determination process in step S214. When the replog start operation is performed (“Yes” in the determination process of step S214), the replogging apparatus 11a starts preparation for establishing communication in the communication schedule at the time of replogging as the subsequent process of step S215.

  By the way, even if preparation for establishment of communication is started, communication is not immediately established. For example, after a period twice as long as the communication cycle C2 has elapsed, the reprogramming device 11a transmits a communication start signal to the communication line 12. Communication is established. As described above, in order to establish communication, it is sufficient that the communication line 12 is returned to the idle state after transmitting the communication start signal and before transmitting the next first startup frame. However, in the present embodiment, the communication line 12 is set in an idle state before the communication start signal is transmitted from the reprogramming device 11a. In order to prevent the reprogramming device 11a from erroneously recognizing the active state, the timing for returning the communication line 12 to the idle state is set before the timing for returning the RxD line to the short state. Incidentally, the timing for returning the communication line 12 from the active state to the idle state may be before the timing at which the startup frame is transmitted or before the timing at which the communication start signal is transmitted.

  The replogging device 11a starts timekeeping by appropriate timekeeping means (not shown) as the processing of the subsequent step S216, and the period Ta elapses based on the time point when the replogging start operation is performed through the judgment processing of the subsequent step S217. Wait until. Here, when determining that the period Ta has elapsed (“Yes” in the determination process of step S217), the reprogramming device 11a places the communication line 12 in the idle state through the bus driver BD2 as the process of subsequent step S218. As a result, the communication line 12 can be set in the idle state before the reprogramming device 11a transmits the communication start signal.

  Further, the replogging apparatus 11a waits until the time period Tb elapses with reference to the point in time when the replogging start operation is performed as the determination process in step S219. Here, when determining that the period Tb has elapsed (“Yes” in the determination process of step S219), the reprogramming device 11a causes the analog switch 114 to short-circuit the RxD line of the bus driver BD1 as the process of subsequent step S220. . As a result, the reprogramming device 11 a can detect the state of the communication line 12.

  In the present embodiment, a period shortened by a predetermined period α from a period twice as long as the communication cycle C2 is set as the period Ta, and a predetermined period from a period twice as long as the communication cycle C1 is set as the period Tb. The period is shortened by the period β (here, the predetermined period α> the predetermined period β). Setting the periods Ta and Tb in this way makes it possible to clarify the period during which the communication line 12 is in the active state.

  On the other hand, when determining that the replog preparation request flag is not set in the determination process of the previous step S211 ("No" in the determination process of step S211), the replogging apparatus 11a performs a normal process as the subsequent process of step S221. Start communication establishment preparations in the communication schedule. In this way, when the ignition switch is turned on, the reprogramming device 11a prepares for establishment of communication according to the normal communication schedule if the reprogramming preparation request has not been transmitted while the ignition switch was on previously. Is started (S211 → S221).

  When the ignition switch is turned on, for example, the reprogrammable ECU executes a startup process shown in FIG. Specifically, as shown in FIG. 11A, when the reprogrammable ECU starts the startup process, first, as the determination process in step S231, the reprogram preparation request flag stored and held in the storage holding unit 102a is set. Judge whether or not. Here, when it is determined that the replog preparation request flag is set (“Yes” in the determination process of step S231), the replogable ECU determines that the replogable ECU is a replog target as the subsequent process of step S232. Determine whether or not.

  When it is determined that the replogable ECU is the replog target ECU 10a (“Yes” in the determination process of step S232), the replog target ECU 10a resets the replog preparation request flag and continues to step S234 as the process of step S233. As a process of (1), preparation for establishment of communication is started by a communication schedule at the time of re-logging. In this way, when the ignition switch is turned on, a reprogram preparation request is received while the previous ignition switch is on, and when the reprogrammable ECU is determined to be a reprogram target ECU Then, preparation for establishment of communication is started according to the communication schedule at the time of re-logging (steps S231 → S232 → S233 → S234).

  On the other hand, when it is determined that the reprogrammable ECU is the non-replog target ECU 10b ("No" in the determination process of step S232), the non-replog target ECU 10b resets the reprolog preparation request flag as the process of the subsequent step S235. Then, as the processing of the subsequent step S236, preparation for establishing communication is started with a normal communication schedule. In this way, when the ignition switch is turned on, a reprogram preparation request is received while the previous ignition switch is on, and when the reprogrammable ECU is determined to be a non-replog target ECU Starts preparation for establishing communication according to a normal communication schedule (steps S231 → S232 → S235 → S236).

  On the other hand, when it is determined that the replog preparation request flag is not set (“No” in the determination process of step S231), the reprogrammable ECU prepares for establishment of communication in the normal communication schedule as the process of step S236. To start. In this way, when the ignition switch is turned on, if it is determined that no reprogram preparation request has been received while the previous ignition switch is on, communication is performed according to the normal communication schedule. Preparation for establishment of (S231 → S236) is started.

  Further, for example, when the ignition switch is turned on, the non-replogging ECU 10c executes a startup process shown in FIG. Specifically, as shown in FIG. 11B, the non-replogging ECU 10c starts preparation for establishing communication in the normal communication schedule as the processing of subsequent step S241. Thus, when the ignition switch is turned on, preparation for establishing communication is started according to the normal communication schedule (step S241).

  FIG. 12A is a timing chart showing an operation example of the reprogramming device 11a. FIG. 12B is a timing chart showing an example of the state of the communication line 12, and FIG. 12C is a timing chart showing an example of the state of the RxD line. Further, FIG. 12D is a timing chart showing an operation example of the non-replogging target ECU 10b. The operation of the present embodiment will be summarized with reference to FIGS. 12 (a) to 12 (d). It is assumed that the replog device 11a has transmitted a replog preparation request while the ignition switch was turned on last time.

  As shown in FIGS. 12B and 12C, for example, when the ignition switch is turned on at time t1, the reprogramming device 11a activates the communication line 12 through the bus driver BD2, and the bus The RxD line of the driver BD1 is opened. As a result, the communication line 12 is in the active state as shown in FIG. 12B, and the reprogram target ECU 10a enters a waiting state for starting communication establishment preparation in the communication schedule at the time of reprogramming. Similarly, the non-replogging target ECU 10b and the non-replogging ECU 10c are also in a waiting state for starting preparations for establishing communication in the normal communication schedule.

  As shown in FIG. 12A, for example, when a replog start operation is performed on the replogging device 11a at time t2, the replogging device 11a erroneously recognizes that the communication line 12 remains in an idle state. The preparation for establishment of communication can be started by the communication schedule at the time of reprogramming. Then, the reprogramming device 11a transmits a communication start signal to the communication line 12, for example, at time t4 (second start time) when a period twice as long as the communication cycle C2 has elapsed with reference to time t2, thereby performing communication during reprogressing. Preparation for establishing communication is started on a schedule, and then a startup frame (not shown) is transmitted to establish communication on the communication schedule at the time of re-logging.

  As shown in FIG. 12B, the replogging device 11a sets the communication line 12 in the idle state through the bus driver BD2, for example, at the time t3 when the period Ta has elapsed with reference to the time t2 when the replog start operation is performed. The period Ta is set to a time shorter than twice the communication cycle C2. Therefore, the replogging device 11a switches the communication line 12 from the active state to the idle state after time 2 when the program rewrite start instruction is received and before time t4 (second start time) at which preparation for establishing communication is started. become.

  Also, as shown in FIG. 12C, the replogging device 11a shorts the RxD line of the bus driver BD1 at the time when the period Tb has elapsed with reference to the time t2 when the replog start operation is performed. The period Tb is set to a time longer than the period Ta and shorter than twice the communication cycle C2. As a result, the reprogramming device 11a is not caused to misrecognize the state of the communication line 12, and can detect the state of the communication line 12. That is, the reprogramming device 11a ends erroneous recognition that the communication line 12 is in the idle state from time t3 when the communication line 12 is actually set in the idle state to time t4 (second start time). become.

  The non-replog target ECU 10b operates as follows. That is, since the communication line 12 is in an idle state after the transmission of the communication start signal transmitted by the reprogramming device 11a is completed, the communication start signal should be transmitted after a period twice as long as the communication cycle C1 calculated from the time of the idle state. And In practice, however, the startup frame transmitted by the reprogressor 11a is received before that. The non-replog target ECU 10b receives a startup frame periodically transmitted from the replog device 11a and tries to start communication in synchronization with the replog device 11a. However, communication cannot be started because the communication schedule is different. Further, since the idle state of the communication line 12 does not occur for a period twice as long as the communication cycle C1, the communication start signal is no longer transmitted by itself.

  Further, the reprogram target ECU 10a operates as follows. That is, since the communication line 12 is in an idle state after the transmission of the communication start signal transmitted by the reprogramming device 11a is completed, the communication start signal is to be transmitted after a period twice as long as the communication cycle C2 calculated from the time of the idle state. And In practice, however, the startup frame transmitted by the reprogressor 11a is received before that. The reprogram target ECU 10a receives a start-up frame periodically transmitted from the reprolog device 11a, attempts to start communication in synchronization with the reprolog device 11a, and communication can be started because the communication schedule is the same. In this case, the reprogram target ECU 10a no longer needs to transmit a communication start signal, and can start communication by receiving a startup frame.

  In FIG. 12B, the illustration is omitted, and in FIG. 12D, the timing chart of the non-replogged ECU 10b is shown based on the omitted illustration. After the idle state at time t3, the communication start signal is transmitted again from the time t4 when the communication start signal is started to be transmitted from the reprogramming device 11a to the time when the transmission is completed. . Therefore, during this time, the non-replog target ECU 10b and the relog target ECU 10a are actually in the communication start waiting state again. Therefore, in actuality, the time t5 at which the non-replog target ECU 10b attempts to transmit the communication start signal is delayed more than the illustrated timing. Incidentally, since the non-replog target ECU 10b does not transmit a communication start signal, it is indicated by a broken line in FIG.

  In this way, the first start time t5, which is the time when the non-replog target ECU 10b and the non-replogging ECU 10c try to start preparations for establishing communication according to the normal communication schedule, is based on the communication schedule when the reprogramming device 11a performs reprogramming. It will be later than the second start time t4, which is the time to start preparation for establishment of communication, and as a result, the communication start signal of the reprologging device 11a is always transmitted to the communication line 12 first.

  Since the communication is first established by the reprogramming device 11a in the communication schedule at the time of reprogramming, only the reprogram target ECU 10a having the same communication schedule can participate in the established communication. The non-replogging target ECU 10b and the non-replogging ECU 10c having different communication schedules cannot participate in communication. Therefore, the replogging device 11a can establish communication only with the replogging target ECU 10a.

  As described above, in the second embodiment, the non-replogging ECU 10b and the non-replogging ECU 10c are set to the time t5 when the reprogramming device 11a starts the reprogramming at the time of starting preparation for establishing communication according to the normal communication schedule. The communication schedule is delayed from time t4 when preparation for establishing communication is started. As a result, communication is established only between the replogging device 11a and the replogging target ECU 10a.

  In the second embodiment, the start timing control unit 113, for example, after the time t2 when the relog start operation is performed (received the program rewrite start instruction) and before the time t4 when the communication start signal is transmitted, for example, At time t3, the communication line 12 is switched from the active state to the idle state. This makes it possible to clarify the period during which the communication line 12 is in the active state.

  In the second embodiment, the start timing control unit 113 ends the misperception that the communication line 12 is in the idle state after time t3 when the communication line 12 is actually set in the idle state from the active state. . As a result, the reprogramming device 11a can correctly detect the state when the communication line 12 is actually idle. In other words, it is possible to reliably prevent the reprogramming device 11a from detecting that the communication line 12 is actually active.

  Note that the reprogramming system and the reprogramming device according to the present invention are not limited to the configurations exemplified in the above embodiments, and can be implemented with various modifications without departing from the spirit of the present invention. It is. In other words, for example, the following embodiment can be implemented by appropriately changing the above embodiment.

  In the second embodiment, as shown in FIGS. 13A and 13B, although the size of the frame X and the size of the frame Y are different, the sizes of the communication cycle C1 and the communication cycle C2 are different. Are the same, but not limited to this. In addition, for example, as shown in FIGS. 14A and 14B as diagrams corresponding to FIGS. 13A and 13B, the size of the frame X is different although the sizes of the communication cycle C1 and the communication cycle C2 are different. And the size of the frame Y may be the same. As a result, the non-replogging ECU 10b and the non-replogging ECU 10c can receive the frame Y but fail to establish communication because the reception interval of the frame Y is different from the communication cycle C2. Can not). Furthermore, these may be used in combination. Although illustration is omitted, the size of the frame X and the size of the frame Y may be different, and the sizes of the communication cycle C1 and the communication cycle C2 may be different. Also by this, the same effect as the second embodiment and the same effect as the modification can be obtained.

  In the second embodiment, the bus drivers BD1 and BD2 and the analog switch 114 are realized by separate devices, but the present invention is not limited to this. The bus drivers BD1 and BD2 and the analog switch 14 may be realized by one device. As a result, the cost can be reduced.

  The replogging device 11a itself may be built in the replogging target ECU 10a. When writing the control program of the reprogramming device built-in ECU into the clone ECU, communication can be established between the built-in ECU and the clone ECU according to a communication schedule different from the normal time.

BRIEF DESCRIPTION OF THE DRAWINGS (a) is a block diagram which shows the whole structure of the state which is not connected to a communication line about 1st Embodiment of the reprogramming system and reprologging apparatus which concern on this invention. (B) is a block diagram showing an overall configuration in a state where the reprogramming device is already connected to the communication line. (A) is a schematic diagram which shows an example of the communication schedule at the time of a replogging apparatus being unconnected (normal time), (b) is a schematic diagram which shows an example of the communication schedule at the time of a replogging apparatus being connected (at the time of replogging). (A) is a block diagram showing an example of the internal configuration of a reprogramming device. FIG. 4B is a block diagram illustrating an example of an internal configuration of a replog target control device and a replog target control device. (C) is a block diagram showing an internal configuration example of a non-replogging control device. The figure which shows the execution procedure of the replog using 1st Embodiment by a list. (A) is a flowchart which shows the process sequence of a process during communication about the process performed by the reprogramming apparatus which comprises 1st Embodiment. FIG. 6B is a flowchart illustrating a processing procedure for startup processing. (A) is a flowchart which shows the process sequence of a process during communication about the process performed by ECU which can be programmed which comprises 1st Embodiment. FIG. 6B is a flowchart illustrating a processing procedure for startup processing. (A) is a flowchart which shows the process sequence of a process during communication about the process performed by ECU which cannot be reprogrammed which comprises 1st Embodiment. FIG. 6B is a flowchart illustrating a processing procedure for startup processing. (A) is a block diagram which shows the internal structural example of a reprologging apparatus about 2nd Embodiment of the reprologging system and reprologging apparatus which concern on this invention. FIG. 4B is a block diagram illustrating an example of an internal configuration of a replog target control device and a replog target control device. (C) is a block diagram showing an internal configuration example of a non-replogging control device. The figure which shows the execution procedure of the replog using 2nd Embodiment by a list. The flowchart which shows the process sequence of the process at the time of starting performed by a reprogramming apparatus. (A) The flowchart which shows the process sequence of the process at the time of starting performed by ECU which can be programmed. (B) is a flowchart showing a processing procedure of a startup process executed by a non-replogable ECU. (A) is a timing chart which shows the operation example of a reprogramming device. (B) is a timing chart showing a state example of a communication line. (C) is a timing chart showing an example of the state of the RxD line. (D) is a timing chart showing an operation example of a non-replog target ECU. (A) is a schematic diagram which shows an example of the communication schedule of normal time about the communication schedule employ | adopted by 2nd Embodiment. (B) is a schematic diagram showing an example of a communication schedule at the time of replogging. About the communication schedule employ | adopted in the modification of 2nd Embodiment, (a) is a schematic diagram which shows an example of the communication schedule at the time of normal. (B) is a schematic diagram showing an example of a communication schedule at the time of replogging.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Replog system (program rewriting system), 10 ... Electronic control apparatus, 10a ... Replog object ECU (program rewriting object control apparatus), 10b ... Non-replog object ECU (program rewrite object non-control apparatus), 10c ... Reprolog impossible ECU ( Program rewritable control device), 11, 11a... Replog device (program rewritable device), 12... Communication line (in-vehicle network), 110... Replog start instruction unit (program rewrite start instruction means), 101 a, 101 c, 111, 111 a. Communication control unit (communication controller), 102, 102a, 112 ... storage holding unit, 113 ... start timing control unit, 114 ... analog switch.

Claims (1)

A plurality of electronic control devices are connected, and a time slot type vehicle-mounted network in which the plurality of connected electronic control devices sequentially transmit data every predetermined time according to a predetermined communication schedule;
Of the plurality of electronic control devices connected to the in-vehicle network, the program of the program rewrite target control device, which is an electronic control device that can rewrite a stored program and is an electronic control device to be rewritten, A program rewriting device for rewriting via a network ;
And a program rewrite start instruction means for instructing a program rewriting start of the program rewrite target control device,
Said program rewriting apparatus, when receiving an instruction of the program rewrite start, said to establish a communication through the vehicle network only between the program rewrite target control device, line cormorants program rewriting rewriting of the program A system,
The plurality of electronic control devices connected to the in-vehicle network includes a program rewritable control device that is an electronic control device that cannot rewrite a stored program.
The program rewritable control device includes a communication control unit that stops communication via the in-vehicle network when receiving an instruction to start the program rewritability.
The plurality of electronic control devices connected to the in-vehicle network include a non-program rewrite control device that is an electronic control device that can rewrite a stored program and is not a program rewrite target. ,
This non-program-rewrite target control device includes a communication control unit that stops communication via the in-vehicle network when it is determined that the program rewrite start instruction is received but the target control device is not.
Communication via the in-vehicle network of the non-program rewritable control device is stopped by the communication control unit of the non-program rewritable control device, and communication via the in-vehicle network of the non-program rewritable control device is the program rewritable target. By being stopped by the communication control unit of the external control device, the program rewriting device establishes communication via the in-vehicle network only with the program rewriting target control device,
The electronic control device in which communication via the in-vehicle network has been stopped by the communication control unit resumes communication via the in-vehicle network after a predetermined period of time has elapsed since the communication stopped.
The communication schedule is configured by repeating a communication cycle composed of a static segment composed of a fixed width frame and a dynamic segment composed of a variable width frame,
When rewriting the program, the static segment is set to a minimum number, and the remaining dynamic segments are used .

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