JP5178805B2 - Communication control system - Google Patents

Description

  The present invention provides a message transmission for each device to control the network load in an environment where a plurality of devices connected to the network periodically transmit messages to each other, such as an in-vehicle communication network for vehicle control. The present invention relates to a communication control system that changes timing.

  Currently, vehicles are equipped with many electronic devices such as sensors and ECUs (Electric Control Units), each of which transmits and receives messages via a network. In such a network, CSMA / CA (Carrier Sense Multiple Access with Collision Avoidance) is used as a communication protocol.

  In such a network, the connected device checks the network usage status at the time of message transmission, and sends a message if the network is not used, but if the network is used, a predetermined time elapses. Send the message again later.

  Further, there is a possibility that a plurality of devices determine that the network is unused and send a message at the same time. In this case, since a collision of messages occurs, the device that detects the collision transmits the message again.

  The above-described message retransmission occurs when the transmission timings of a plurality of apparatuses are close or equal. For this reason, in an environment in which a plurality of devices transmit a message at the same cycle, when the transmission timings of the plurality of devices are close or equal, a message is retransmitted every cycle.

  Further, as vehicle control becomes more complicated, a configuration of a first control device and a plurality of second control devices is taken between a plurality of devices connected to the network, and the first control device has a plurality of first control devices. A system for performing control based on a message from the control device 2 has appeared.

  In this case, the first control device cannot perform control only by receiving a message from one second control device. To perform control, the first control device receives a message from one second control device. After that, it is necessary to wait until messages are received from all the second control devices.

  The message waiting time as described above becomes large when the transmission timings of the plurality of second control devices are separated in time. Therefore, in an environment in which a plurality of second control devices transmit messages in the same cycle, when the transmission timings of the plurality of second control devices are separated in time, the message waiting time for each cycle is increased.

  As described above, in an environment in which a plurality of devices transmit and receive messages via a network, when a plurality of devices transmit a message at the same cycle, if the message transmission timing is close or equal in time, the message is retransmitted every cycle. When transmission occurs and the transmission timing of the message is separated in time, there is a problem that the waiting time of the message of every cycle becomes large.

  Therefore, in the following Patent Document 1, in a vehicle-mounted network to which a plurality of devices are connected, one first control device receives the periodic transmission timings of messages of all second control devices, and based on the reception results. There is provided a vehicle communication control system that determines transmission timings of all the second control devices and notifies the transmission timings of all the second control devices by notifying all the second control devices. .

  In the conventional vehicle communication control system 100 having the configuration shown in FIG. 15, the vehicle communication control unit 101 as the first control device and the ECUs (A) and (B) 108 as the plurality of second control devices are mounted on the vehicle. Messages are transmitted and received via the LAN network 107. The ECU (A) (B) 108 notifies the vehicle communication control unit 101 of its message transmission start time (or time), message transmission end time, and message transmission time including the message transmission cycle. The vehicle communication control unit 101 assigns and sets each transmission timing based on the message transmission time received from each ECU (A) (B) 108 and notifies each ECU (A) (B) 108 of the set transmission timing. To do. As a result, each ECU (A) (B) 108 transmits a message at the notified transmission timing.

  With such a configuration, as shown in FIG. 16 (a), even when the transmission timings of the plurality of ECUs (A) and (B) as the second control device are equal and message collision occurs before the change, As shown in FIG. 16 (b), the transmission start time is changed so that the transmission time of each ECU (A) (B) does not overlap with the time from the transmission start time of the message from the other ECU to the transmission end time. By doing so, the collision of messages can be resolved.

JP 2007-184833 A

  However, in the vehicle communication control system described in Patent Document 1, in order to determine whether or not the transmission timing of the second control device needs to be changed and the change value, information on the periodic messages of all the second control devices. (Message transmission start time, message transmission end time, message transmission cycle) are required. Therefore, the first control device that determines whether or not to change the transmission timing of the second control device and the change value needs to handle a large amount of information, which increases the processing load for changing the transmission timing. Further, since the transmission timing is notified to all the second control devices after the determination of the transmission timings of all the second control devices, many messages are required regarding the transmission timing change.

  The present invention has been made in view of the above-described problems. In a vehicle network in which a plurality of second control devices that transmit messages at a predetermined cycle are connected to a first control device, transmission of the second control device. It is possible to change the transmission timing of the second control device while minimizing the processing load for changing the transmission timing of the first control device that determines whether or not to change the timing and the change value. An object of the present invention is to provide a communication control system that does not require a message.

In the present invention, a first control device and a plurality of second control devices each transmitting a message to the first control device at a predetermined cycle are connected to a network, and the first control device is connected to the second control device. The transmission control system transmits a transmission timing change message for changing the message transmission timing to the second control apparatus according to the reception time interval of consecutive messages received from the control apparatus.

  According to the present invention, in a communication control system in which a first control device and a plurality of second control devices each transmitting a message to the first control device at a predetermined cycle are connected to a network, the second control device It is possible to provide a communication control system capable of changing the transmission timing of the second control device while suppressing the processing load for changing the message transmission timing as much as possible and not requiring many messages for changing the transmission timing. .

It is a figure which shows the structure of the communication control system as a battery control system by Embodiment 1, 2 of this invention. It is a flowchart explaining operation | movement of the 1st control apparatus in Embodiment 1, 2 of this invention. It is a flowchart explaining operation | movement of the 2nd control apparatus in Embodiment 1, 2 of this invention. It is a figure which shows the message format of the 1st transmission timing change message in Embodiment 1, 2 of this invention. It is a figure for demonstrating an example of the operation | movement in Embodiment 1 of this invention. It is a figure for demonstrating another example of the operation | movement in Embodiment 1 of this invention. It is a figure for demonstrating another example of the operation | movement in Embodiment 1 of this invention. It is a figure for demonstrating an example of the operation | movement in Embodiment 2 of this invention. It is a figure which shows the structure of the communication control system as a battery control system by Embodiment 3 of this invention. It is a flowchart explaining operation | movement of the 1st control apparatus in Embodiment 3 of this invention. It is a flowchart explaining operation | movement of the 2nd control apparatus in Embodiment 3 of this invention. It is a figure which shows the message format of the 2nd transmission timing change message in Embodiment 3 of this invention. It is a figure for demonstrating an example of the operation | movement in Embodiment 3 of this invention. It is a figure for demonstrating the change of the transmission timing in the communication control system by this invention. It is a figure which shows the structure of this kind of conventional communication control system. It is a figure for demonstrating the transmission timing of each ECU of the conventional communication control system.

  Hereinafter, a communication control system according to the present invention will be described with reference to the drawings according to each embodiment. Each embodiment shows a case where the communication control system according to the present invention is applied to, for example, a battery control system. In each embodiment, the same or corresponding parts are denoted by the same reference numerals.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a battery control system according to Embodiment 1 of the present invention. As shown in FIG. 1, in this battery control system 300, a BMU (Battery Management Unit) 301 as a first control device and a CMU (Cell Management Unit) as a second control device. (A) 307 and CMU (B) 308 are connected by a CAN network 306. CAN is a CSMA / CA communication protocol.

  The CMU (A) 307 and CMU (B) 308 control the battery cells, and the BMU 301 receives messages from the CMU (A) 307 and CMU (B) 308 and receives the CMU (A) 307 and CMU (B) 308. A control command message (transmission timing change message) is transmitted to

  Further, the configurations and functions of the CMU (A) 307 and the CMU (B) 308 are the same. Furthermore, although two CMU (A) 307 and CMU (B) 308 are connected to the CAN network 306 as the second control device, three or more may be connected.

  The BMU 301 includes a communication interface unit 302, a message reception time acquisition unit 303, a transmission timing change necessity determination unit 304, and a first transmission timing change message transmission unit 305. The CMU (A) 307 and the CMU (B) 308 each include a communication interface unit 309 and a transmission timing change unit 310.

  The CMU (A) 307 transmits a message ID: “0x100” in a predetermined cycle and receives a message “0x150”. Further, the CMU (B) 308 transmits a message ID: “0x200” at a predetermined cycle and receives a message “0x250”.

  Further, if the interval between the reception times of a plurality of consecutive messages is less than the threshold (40 ms), it is determined that the CMU message transmission timing needs to be changed.

  Furthermore, here, the transmission timing of the CMU that has transmitted a message received later from among a plurality of consecutive received messages is changed so as to be delayed.

  Next, the operation of the BMU 301 when receiving a message will be described with reference to FIG. FIG. 2 is a flowchart for explaining the operation of the first control apparatus according to the first embodiment.

  In step S <b> 501, the communication interface unit 302 of the BMU 301 receives a message from the CMU (A) 307 or the CMU (B) 308.

  In step S502, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time.

  In step S503, it is determined whether the message received from the CMU is an even-numbered message. If it is an even-numbered message, the process proceeds to step S504. If it is an odd-numbered message, this operation is terminated.

  In step S504, the transmission timing change necessity determination unit 304 of the BMU 301 determines whether it is necessary to change the CMU message transmission timing based on the message reception time. If it is necessary to change, the process proceeds to step S505. If there is no need to change, this operation is terminated. The transmission timing change necessity determination unit 304 changes the CMU message transmission timing when the reception time interval between the even-numbered message and the preceding odd-numbered message is less than the above threshold (40 ms). Is determined to be necessary.

  In step S505, the BMU 301 determines a shift time of the CMU transmission timing.

  In step S506, the first transmission timing change message transmission unit 305 of the BMU 301 transmits a first transmission timing change message including a message transmission timing change command and a shift time.

  The above-described processing of the BMU 301 is performed every time a message is received. Although there are processes other than those described above, the description is omitted because they are not related to the features of this example.

  Next, the operation of the CMU (A) 307 and CMU (B) 308 when receiving a message will be described with reference to FIG. FIG. 3 is a flowchart for explaining the operation of the second control apparatus according to the first embodiment. Since the CMU (A) 307 and the CMU (B) 308 perform the same operation, only the CMU (A) 307 will be described here.

  In step S <b> 601, the communication interface unit 309 of the CMU (A) 307 determines whether a message has been received from the BMU 301. If it is determined that a message has been received, the process proceeds to step S602. If it is determined that a message has not been received, this operation ends.

  In step S602, it is determined whether the received message is a first transmission timing change message including a message transmission timing change command and a shift time. If it is determined that the received message is the first transmission timing change message, the process proceeds to step S603. If it is determined that the received message is not the first transmission timing change message, this operation is terminated.

  In step S603, the shift time is extracted from the first transmission timing change message.

  In step S604, the transmission timing changing unit 310 of the CMU (A) 307 changes its transmission timing based on the extracted shift time.

  The process of CMU (A) 307 described above is performed every time a message is received. Although there are processes other than those described above, the description is omitted because they are not related to the features of this example.

  FIG. 4 shows a message format of the first transmission timing change message in the first embodiment. The header 801 of the first transmission timing change command message includes a SOF (Start Of Frame), a message ID, a CRC (Cyclic Redundancy Check), and the like, and the payload 802 includes a message transmission timing change command and a shift time.

  Hereinafter, the operations of the BMU 301, the CMU (A) 307, and the CMU (B) 308 in the battery control system 300 will be described in detail with reference to FIGS.

  First, an operation when the BMU 301 continuously receives messages from the CMU (A) 307 and the CMU (B) 308 and the interval between the reception times of two messages is equal to or greater than a threshold value will be described.

  First, the communication interface unit 302 of the BMU 301 receives a message with a message ID “0x100” from the CMU (A) 307 (S501).

  Next, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time from the CMU (A) 307 (S502).

  Then, the BMU 301 determines whether the message received from the CMU (A) 307 is an even-numbered message (S503). At this stage, since the BMU 301 has received only the message of the CMU (A) 307, it is determined as an odd number and this operation is terminated.

  Next, the communication interface unit 302 of the BMU 301 receives a message with a message ID “0x200” from the CMU (B) 308 (S501).

  Then, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time from the CMU (B) 308 (S502).

  Then, the BMU 301 determines whether the message received from the CMU (B) 308 is an even-numbered message (S503). At this stage, since the BMU 301 has received the CMU (A) 307 and CMU (B) 308 messages, it is determined as the second message and is even-numbered, and the process proceeds to step S504.

  Next, the transmission timing change necessity determination unit 304 of the BMU 301 determines whether it is necessary to change the message transmission timing of the CMU based on the message reception time from the CMU (A) 307 and the CMU (B) 308. (S504).

  Here, since the interval between the message reception time of the CMU (A) 307 and the message reception time of the CMU (B) 308 is equal to or greater than the threshold value, it is determined that there is no need to change, and this operation ends.

  Next, the operation of the CMU (A) 307 and CMU (B) 308 when receiving a message will be described.

  The communication interface unit 309 of the CMU (A) 307 determines whether a message is received from the BMU 301 (S601). Since the BMU 301 has not transmitted a message, the CMU (A) 307 determines that no message has been received and ends this operation. Similarly, the CMU (B) 308 also ends the operation at the time of reception.

  Next, in the battery control system 300, the first transmission timing change message including the transmission timing change command and the shift time received by the CMU (A) 307 and the CMU (B) 308 from the BMU 301, which is a feature of the first embodiment. The procedure for changing its own transmission timing based on the contents of the above will be described in detail with reference to FIGS. Here, as shown in FIG. 5A, the BMU 301 receives a message with a message ID “0x100” from the CMU (A) 307 and a message with a message ID “0x200” from the CMU (B) 308 for 20 ms. It is assumed that reception is continuously performed at an interval, and the interval between the reception times of two messages is less than a threshold value (40 ms).

  First, the operation of the BMU 301 when receiving a message will be described. The communication interface unit 302 of the BMU 301 receives a message with a message ID “0x100” from the CMU (A) 307 (S501).

  Next, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time from the CMU (A) 307 (S502).

  Then, the BMU 301 determines whether the message received from the CMU (A) 307 is an even-numbered message (S503). At this stage, since the BMU 301 has received only the message of the CMU (A) 307, it is determined as an odd number and this operation is terminated.

  Next, the communication interface unit 302 of the BMU 301 receives a message with a message ID “0x200” from the CMU (B) 308 (S501).

  Then, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time from the CMU (B) 308 (S502).

  Then, the BMU 301 determines whether the message received from the CMU (B) 308 is an even-numbered message (S503). At this stage, since the BMU 301 has received the CMU (A) 307 and CMU (B) 308 messages, it is determined as the second message and is even-numbered, and the process proceeds to step S504.

  Next, the transmission timing change necessity determination unit 304 of the BMU 301 determines whether it is necessary to change the message transmission timing of the CMU based on the message reception time from the CMU (A) 307 and the CMU (B) 308. (S504).

  Here, since the interval between the message reception time of the CMU (A) 307 and the message reception time of the CMU (B) 308 is less than the threshold value, it is determined that it needs to be changed, and the process proceeds to step S505.

  Next, the BMU 301 determines a shift time of the transmission timing of the CMU (S505). In order to make the interval of the message reception time of consecutive messages equal to or greater than the threshold value, it is set to 30 ms.

  Then, the first transmission timing change message transmission unit 305 of the BMU 301 transmits a first transmission timing change message including a message transmission timing change command and a shift time (S506). Here, in order to change the transmission timing of the CMU (B) 308 that has transmitted a message received later from among a plurality of consecutive messages, the message reception ID “0x250” of the CMU (B) 308 is set to the first. The ID is set in the header 801 of the transmission timing change message, and the offset time determined in S505 is set to 30 ms as the offset time of the payload 802.

  Next, the operation of the CMU (A) 307 and CMU (B) 308 when receiving a message will be described.

  The communication interface unit 309 of the CMU (A) 307 determines whether a message is received from the BMU 301 (S601). Here, since the BMU 301 sets “0x250” as the ID of the first transmission timing change message, the CMU (A) 307 determines that the message has not been received and ends the operation at the time of reception. .

  On the other hand, the communication interface unit 309 of the CMU (B) 308 determines whether a message is received from the BMU 301 (S601). Here, since the BMU 301 sets “0x250” as the ID of the first transmission timing change message, the CMU (B) 308 determines that the message has been received, and proceeds to step S602.

  The CMU (B) 308 that has received the message from the BMU 301 determines whether or not the received message is a first transmission timing change message including a message transmission timing change command and a shift time (S602). Here, since the BMU 301 includes the message transmission timing change command and the shift time in the message payload 802, the CMU (B) 308 determines that the received message is the first transmission timing change message, and the step The process proceeds to S603.

  Next, the CMU (B) 308 extracts a shift time from the first transmission timing change message (S603). Here, since the shift time of the first transmission timing change message includes 30 ms, 30 ms is extracted.

  Finally, as shown in FIG. 5B, the CMU (B) 308 shifts its transmission timing by 30 ms, which is the shift time included in the first transmission timing change message.

  As described above, continuous messages are received from the plurality of second control devices (CMU (A) 307 and CMU (B) 308) that the BMU 301 serving as the first control device transmits a message at a predetermined cycle. When the reception time interval is less than the predetermined value, the first control device determines that the transmission timing of the second control device needs to be changed and is used to determine whether the transmission timing needs to be changed. A first transmission timing change message including a message transmission timing change command and a shift time is transmitted to one of the second control devices that has transmitted the message, and the second control device transmits By changing the timing by the shift time designated by the first control device, it is possible to change the transmission timing intervals of the plurality of second control devices so that the second control is performed. It is possible to reduce the message retransmission of location.

  Further, since the first control device can determine whether or not the transmission timing of the second control device needs to be changed based only on the message reception time from the second control device, the transmission timing of the first control device can be determined. The processing load related to the change can be suppressed as much as possible.

  Furthermore, since the first control device only needs to transmit a message related to the transmission timing change to only one second control device, many messages are not necessary for the transmission timing change.

  In the above example, among the second control devices (CMU (A) 307, CMU (B) 308) that the BMU 301 serving as the first control device has transmitted the message used to determine whether or not to change the transmission timing, The first transmission timing change message is transmitted to the CMU (B) 308 whose message reception time is late, and the transmission timing of the CMU (B) 308 is changed to be delayed. As described above, by transmitting the first transmission timing change message to the CMU (A) 307 having the earlier message reception time and shifting the transmission timing of the CMU (A) 307 earlier, the plurality of second control apparatuses The transmission timing can be changed to widen the transmission timing interval, and the same effect can be obtained.

  In the above example, the message is transmitted to one CMU (B) 308 among the second control devices (CMU (A) 307 and CMU (B) 308) that have transmitted the message used for determining whether or not the transmission timing needs to be changed. Although the first transmission timing change message including the timing change command and the shift time is transmitted, as shown in FIG. 7B, the message used for determining whether or not the message transmission timing is changed is transmitted. By transmitting the first transmission timing change message to all the control devices of the second control devices (CMU (A) 307 and CMU (B) 308) and shifting the transmission timing, the plurality of second control devices Since the transmission timing can be changed to widen the transmission timing interval, the same effect can be obtained.

  Further, by changing the transmission timings of the plurality of second control devices, the transmission timing shift time of the second control device can be reduced.

  In the present invention, the message interval of the plurality of second control devices (CMU (A), CMU (B)) is changed by changing the transmission timing without changing the transmission cycle of the second control device. As shown in FIG. 14A, before changing the transmission timing, the interval between these messages received by the BMU from the CMU (A) and the CMU (B) is 20 ms. Since each CMU transmits a message at a constant period (here, 100 ms), this interval does not change. Therefore, as shown in FIG. 14B, the transmission cycle of CMU (B) is not changed, and the transmission timing is shifted in the direction of delaying (here, 30 ms is shifted), so that CMU (8A), CMU (B ) Between these messages received by the BMU is 50 ms per period.

Embodiment 2. FIG.
Next, a battery control system according to Embodiment 2 of the present invention will be described. The configuration of the battery control system is the same as that shown in FIG. The difference from the first embodiment is that in the first embodiment, when the interval between the reception times of a plurality of consecutive messages is less than the threshold (40 ms), the CMU message transmission timing needs to be changed. In the second embodiment, it is determined that the CMU message transmission timing needs to be changed if the interval between the reception times of a plurality of consecutive messages exceeds a threshold (60 ms). .

  Moreover, in this Embodiment 2, it changes so that the transmission timing of CMU which transmitted the message received later among several continuous reception messages may be shifted in the direction which is advanced.

  Next, in the battery control system 300, the first transmission timing change including the message transmission timing change command and the shift time received by the CMU (A) 307 and the CMU (B) 308 from the BMU 301, which is a feature of the present embodiment. A procedure for changing its own transmission timing based on the content of the message will be described in detail with reference to FIG. 2, FIG. 3, and FIG. Here, as shown in FIG. 8A, the BMU 301 receives a message with a message ID “0x100” from the CMU (A) 307 and a message with a message ID “0x200” from the CMU (B) 308 for 80 ms. It is assumed that reception is continuously performed at intervals, and the interval between the reception times of two messages exceeds a threshold value (60 ms).

  First, the operation of the BMU 301 when receiving a message will be described. The communication interface unit 302 of the BMU 301 receives a message with a message ID “0x100” from the CMU (A) 307 (S501).

  Next, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time from the CMU (A) 307 (S502).

  Then, the BMU 301 determines whether the message received from the CMU (A) 307 is an even-numbered message (S503). At this stage, since the BMU 301 has received only the message of the CMU (A) 307, it is determined as an odd number and this operation is terminated.

  Next, the communication interface unit 302 of the BMU 301 receives a message with a message ID “0x200” from the CMU (B) 308 (S501).

  Then, the message reception time acquisition unit 303 of the BMU 301 obtains the message reception time from the CMU (B) 308 (S502).

  Then, the BMU 301 determines whether the message received from the CMU (B) 308 is an even-numbered message (S503). At this stage, since the BMU 301 has received the CMU (A) 307 and CMU (B) 308 messages, it is determined as the second message and is even-numbered, and the process proceeds to step S504.

  Next, the transmission timing change necessity determination unit 304 of the BMU 301 determines whether it is necessary to change the message transmission timing of the CMU based on the message reception time from the CMU (A) 307 and the CMU (B) 308. (S504).

  Here, since the interval between the message reception time of CMU (A) 307 and the message reception time of CMU (B) 308 exceeds the threshold, it is determined that it needs to be changed, and the process proceeds to step S505.

  Next, the BMU 301 determines a shift time of the transmission timing of the CMU (S505). Here, in order to set the interval of message reception times of consecutive messages to be equal to or less than the threshold value, -30 ms is set.

  Then, the first transmission timing change message transmission unit 305 of the BMU 301 transmits a first transmission timing change message including a message transmission timing change command and a shift time (S506). Here, in order to change the transmission timing of the CMU (B) 308 that has transmitted a message received later from among a plurality of consecutive messages, the message reception ID “0x250” of the CMU (B) 308 is first set. Is set to the ID of the header 801 of the transmission timing change message, and the shift time determined in S505 is set to −30 ms as the shift time of the payload 802.

  Next, the operation of the CMU (A) 307 and CMU (B) 308 when receiving a message will be described.

  The communication interface unit 309 of the CMU (A) 307 determines whether a message is received from the BMU 301 (S601). Here, since the BMU 301 sets “0x250” as the ID of the first transmission timing change message, the CMU (A) 307 determines that the message has not been received and ends the operation at the time of reception. To do.

  On the other hand, the communication interface unit 309 of the CMU (B) 308 determines whether a message is received from the BMU 301 (S601). Here, since the BMU 301 sets “0x250” as the ID of the first transmission timing change message, the CMU (B) 308 determines that the message has been received, and proceeds to step S602.

  The CMU (B) 308 that has received the message from the BMU 301 determines whether or not the received message is a first transmission timing change message including a message transmission timing change command and a shift time (S602). Here, since the BMU 301 includes the transmission timing change command and the shift time in the message payload 802, the CMU (B) 308 determines that the received message is the first transmission timing change message, and the step The process proceeds to S603.

  Next, the CMU (B) 308 extracts a shift time from the first transmission timing change message (S603). Here, since the shift time of the first transmission timing change message includes -30 ms, -30 ms is extracted.

  Finally, as shown in FIG. 8B, the CMU (B) 308 shifts its transmission timing by −30 ms, which is the shift time included in the first transmission timing change message.

  As described above, continuous messages are received from the plurality of second control devices (CMU (A) 307 and CMU (B) 308) that the BMU 301 serving as the first control device transmits a message at a predetermined cycle. If the reception time interval of the first control device exceeds a predetermined value, the first control device determines that the transmission timing of the second control device needs to be changed, and is used to determine whether the transmission timing needs to be changed. A first transmission timing change message including a message transmission timing change command and a shift time is transmitted to one of the second control devices that has transmitted the message, and the second control device transmits By changing the timing by the shift time designated by the first control device, it is possible to change the transmission timing intervals of the plurality of second control devices so that the first control device can be narrowed. There can be received in a short time messages for all of the second controller.

  Further, since the first control device can determine whether or not the transmission timing of the second control device needs to be changed based only on the message reception time from the second control device, the transmission timing of the first control device can be determined. The processing load related to the change can be suppressed as much as possible.

  Furthermore, since the first control device only needs to transmit a message related to the transmission timing change to only one second control device, many messages are not necessary for the transmission timing change.

  In the above example, the BMU 301 serving as the first control device transmits the message used for determining whether the transmission timing is changed (CMU (A) 307, CMU (B) 308). The first transmission timing change message is transmitted to the CMU (B) 308 whose message reception time is late, and the transmission timing of the CMU (B) 308 is changed to be advanced. A) Send the first transmission timing change message to 307 and shift the transmission timing of the CMU (A) 307 in the direction of delaying the transmission timing so that the transmission timing intervals of the plurality of second control devices are narrowed. The same effect can be obtained.

  In the above example, the message is transmitted to one CMU (B) 308 among the second control devices (CMU (A) 307 and CMU (B) 308) that have transmitted the message used for determining whether or not the transmission timing needs to be changed. Although the first transmission timing change message including the timing change command and the shift time is transmitted, the second control device (CMU (A) 307 that has transmitted the message used for determining whether the message transmission timing change is necessary or not is transmitted. , The first transmission timing change message is transmitted to all the control devices of the CMU (B) 308), and the transmission timings are reduced so as to narrow the transmission timing intervals of the plurality of second control devices by shifting the transmission timings. The same effect can be obtained.

  Further, by changing the transmission timings of the plurality of second control devices, the transmission timing shift time of the second control device can be reduced.

Embodiment 3 FIG.
FIG. 9 is a diagram showing a configuration of a battery control system according to the third embodiment of the present invention. As shown in FIG. 9, in the battery control system 400, as in the first and second embodiments, the BMU 401 as the first control device, the CMU (A) 407 as the second control device, and the CMU (B) 408.

  The configurations and functions of the CMU (A) 407 and the CMU (B) 408 are the same. Furthermore, although two CMU (A) 407 and CMU (B) 408 are connected to the CAN network 406 as the second control device, three or more may be connected.

  The BMU 401 includes a communication interface unit 402, a message reception time acquisition unit 403, a transmission timing change necessity determination unit 404, and a second transmission timing change message transmission unit 405. The CMU (A) 407 and the CMU (B) 408 each include a communication interface unit 409, a transmission timing change unit 410, and a timing change time storage unit 411.

  The CMU (A) 407 transmits a message ID: “0x100” in a predetermined cycle and receives a message “0x150”. Also, the CMU (B) 408 transmits a message ID: “0x200” in a predetermined cycle and receives a message “0x250”. Each timing change time storage unit 411 stores 30 ms as a shift time.

  Further, if the interval between the reception times of a plurality of consecutive messages is less than the threshold (40 ms), it is determined that the CMU message transmission timing needs to be changed.

  Furthermore, here, the transmission timing of the CMU that has transmitted a message received later from among a plurality of consecutive received messages is changed so as to be delayed.

  Next, the operation when the BMU 401 receives a message will be described with reference to FIG. FIG. 10 is a flowchart for explaining the operation of the first control apparatus according to the third embodiment.

  In step S1201, the communication interface unit 402 of the BMU 401 receives a message from the CMU (A) 407 or the CMU (B) 408.

  In step S1202, the message reception time acquisition unit 403 of the BMU 401 obtains the message reception time.

  In step S1203, it is determined whether the message received from the CMU is an even-numbered message. If it is an even-numbered message, the process proceeds to step S1204. If it is an odd-numbered message, this operation is terminated.

  In step S1204, the transmission timing change necessity determination unit 404 of the BMU 401 determines whether it is necessary to change the CMU message transmission timing based on the message reception time. If it is necessary to change, the process proceeds to step S1205. If there is no need to change, this operation is terminated. The transmission timing change necessity determination unit 404 changes the CMU message transmission timing when the interval between the reception times of the even-numbered message and the preceding odd-numbered message is less than the above threshold (40 ms). Is determined to be necessary.

  In step S1205, the second transmission timing change message transmission unit 405 of the BMU 401 transmits a second transmission timing change message including a message transmission timing change command.

  The above-described processing of the BMU 401 is performed every time a message is received. Although there are processes other than those described above, the description is omitted because they are not related to the features of this example.

  Next, the operation of the CMU (A) 407 and CMU (B) 408 when receiving a message will be described with reference to FIG. FIG. 11 is a flowchart for explaining the operation of the second control device according to the third embodiment. Since the CMU (A) 407 and the CMU (B) 408 operate in the same manner, only the CMU (A) 407 will be described here.

  In step S1301, the communication interface unit 409 of the CMU (A) 407 determines whether a message has been received from the BMU 401. If it is determined that a message has been received, the process proceeds to step S1302. If it is determined that a message has not been received, this operation ends.

  In step S1302, it is determined whether the received message is a second transmission timing change message including a message transmission timing change command. If it is determined that the received message is the second transmission timing change message, the process proceeds to step S1303. If it is determined that the received message is not the second transmission timing change message, this operation is terminated.

  In step S1303, the shift time is extracted from its own timing change time storage unit 411.

  In step S1304, the transmission timing changing unit 410 of the CMU (A) 407 changes its transmission timing based on the extracted shift time.

  The process of CMU (A) 407 described above is performed every time a message is received. Although there are processes other than those described above, the description is omitted because they are not related to the features of this example.

  FIG. 12 shows a message format of the second transmission timing change message in the third embodiment. The header 1501 of the second transmission timing change command message includes an SOF (Start Of Frame), a message ID, a CRC (Cyclic Redundancy Check), and the like, and the payload 1502 includes a message transmission timing change command.

  Next, in the battery control system 400, the second transmission timing change message including the message transmission timing change command received from the BMU 401 by the CMU (A) 407 and the CMU (B) 408, which is a feature of the third embodiment. A procedure for changing the own transmission timing based on the contents and the shift time stored by itself will be described in detail with reference to FIGS. Here, as shown in FIG. 13A, the BMU 401 sends a message with a message ID “0x100” from the CMU (A) 407 and a message with a message ID “0x200” from the CMU (B) 408 to 20 ms. It is assumed that reception is continuously performed at an interval, and the interval between two message reception times is less than a threshold value (40 ms).

  First, the operation of the BMU 401 when receiving a message will be described. The communication interface unit 402 of the BMU 401 receives a message with a message ID “0x100” from the CMU (A) 407 (S1201).

  Next, the message reception time acquisition unit 403 of the BMU 401 obtains the message reception time from the CMU (A) 407 (S1202).

  The BMU 401 determines whether the message received from the CMU (A) 407 is an even numbered message (S1203). At this stage, since the BMU 401 has received only the message of the CMU (A) 407, it is determined as an odd number and this operation is terminated.

  Next, the communication interface unit 402 of the BMU 401 receives a message with a message ID “0x200” from the CMU (B) 408 (S1201).

  Then, the message reception time acquisition unit 403 of the BMU 401 obtains the message reception time from the CMU (B) 408 (S1202).

  The BMU 401 determines whether the message received from the CMU (B) 408 is an even-numbered message (S1203). At this stage, since the BMU 401 has received the CMU (A) 407 and CMU (B) 408 messages, it is determined as the second message and is even, and the process proceeds to step S1204.

  Next, the transmission timing change necessity determination unit 404 of the BMU 401 determines whether it is necessary to change the CMU message transmission timing based on the message reception times from the CMU (A) 407 and the CMU (B) 408. (S1204).

  Here, since the interval between the message reception time of CMU (A) 407 and the message reception time of CMU (B) 408 is less than the threshold value, it is determined that it needs to be changed, and the process proceeds to step S1205.

  Then, the BMU 401 transmits a second transmission timing change message including a message transmission timing change command (S1205). Here, in order to change the transmission timing of the CMU (B) 408 that has transmitted the message received later from among a plurality of consecutive messages, the message reception ID “0x250” of the CMU (B) 408 is set to the second value. The ID is set in the header 1501 of the transmission timing change message, and a message transmission timing change command is set in the payload 1502.

  Next, the operation of the CMU (A) 407 and CMU (B) 408 when receiving a message will be described.

  The communication interface unit 409 of the CMU (A) 407 determines whether a message is received from the BMU 401 (S1301). Here, since the BMU 401 sets “0x250” as the ID of the second transmission timing change message, the CMU (A) 407 determines that the message is not received and ends the operation at the time of reception. .

  On the other hand, the communication interface unit 409 of the CMU (B) 408 determines whether a message is received from the BMU 401 (S1301). Here, since the BMU 401 sets “0x250” as the ID of the second transmission timing change message, the CMU (B) 408 determines that the message has been received, and proceeds to step S1302.

  The CMU (B) 408 that has received the message from the BMU 401 determines whether or not the received message is a second transmission timing change message including a message transmission timing change command (S1302). Here, since the BMU 401 includes the message transmission timing change command in the message payload 1502, the CMU (B) 408 determines that the received message is the second transmission timing change message, and proceeds to step S1303. .

  Next, the CMU (B) 408 extracts the shift time from its own timing change time storage unit 411 (S1303). Here, since 30 ms is stored in the timing change time storage unit 411, 30 ms is extracted.

  Finally, the CMU (B) 408 shifts its transmission timing by 30 ms, which is the extracted shift time, as shown in FIG. 13B (S1304).

  As described above, a continuous message among messages received from a plurality of second control devices (CMU (A) 407, CMU (B) 408) to which the BMU 401 as the first control device transmits a message in a predetermined cycle. When the reception time interval is less than the predetermined value, the first control device determines that the transmission timing of the second control device needs to be changed and is used to determine whether the transmission timing needs to be changed. A second transmission timing change message including a message transmission timing change command is transmitted to one of the second control apparatuses that has transmitted the message, and the transmission timing of the second control apparatus is set to the second control apparatus. By changing only the shift time stored in the second control device, it is possible to change the transmission timing intervals of the plurality of second control devices to increase the message of the second control device. It is possible to reduce the di retransmission.

  Further, the first control device can determine whether or not the transmission timing of the second control device needs to be changed based only on the message reception time from the second control device, and can also set the shift time that is the change value. By storing in the second control device, it is not necessary for the first control device to determine the shift time, so that the processing load for changing the transmission timing of the first control device can be suppressed as much as possible.

  Furthermore, since the first control device only needs to transmit a message related to the transmission timing change to only one second control device, many messages are not necessary for the transmission timing change.

  In the above example, the BMU 401 serving as the first control device continuously receives messages from a plurality of second control devices (CMU (A) 407, CMU (B) 408) that transmit messages at a predetermined cycle. When the message reception time interval is less than the predetermined value, the first control device determines that the transmission timing of the second control device needs to be changed, but as in the second embodiment. If the value exceeds the predetermined value, it is determined that the transmission timing needs to be changed, and the second control device is one of the second control devices that has transmitted the message used to determine whether the transmission timing needs to be changed. To send a second transmission timing change message including a transmission timing change command, and change the transmission timing of the second control device by the shift time stored in the second control device, thereby Spacing of the transmission timing of the control device can be changed so as to narrow the can first control device receives a short message of all of the second controller.

  Moreover, since the shift time which is a change value is memorize | stored in a 2nd control apparatus, since the 1st control apparatus does not need to determine a shift time, the processing load concerning the transmission timing change of a 1st control apparatus Can be suppressed as much as possible.

  Furthermore, since the first control device only needs to transmit a message related to the transmission timing change to only one second control device, many messages are not necessary for the transmission timing change.

According to the control system of the present invention, the first control device changes the message transmission timing to the specific second control device based on the message reception time from the second control device that periodically transmits the message. The first transmission timing change message including the command and the shift time is transmitted, and the transmission timing of the second control device is changed by the shift time specified by the first control device, so that the second control device Transmission timing can be changed.
In this way, the first control device can determine whether or not the transmission timing of the second control device needs to be changed and the change value based only on the message reception time from the second control device. The processing load for changing the transmission timing of the apparatus can be suppressed as much as possible.

Further, according to the control system according to the present invention, the first control device sends the specific second control device to the specific second control device based on the message reception times from the plurality of second control devices that periodically transmit messages. The second control is performed by transmitting the second transmission timing change message including the message transmission timing change command, and changing the transmission timing of the second control device by the shift time stored in the second control device. The transmission timing of the device can be changed.
In this way, the first control device can determine whether or not the transmission timing of the second control device needs to be changed based only on the message reception time from the second control device, and the shift time that is the change value. Is stored in the second control device, the first control device does not need to determine the shift time, and therefore the processing load required for changing the transmission timing of the first control device can be suppressed as much as possible.

  Further, according to the control system of the present invention, when the interval of the reception time of consecutive messages among the messages received by the first control device from the second control device is less than the threshold, a plurality of By changing the transmission timing of the second control device so as to widen the transmission timing interval of the second control device, it is possible to reduce the retransmission of the message of the second control device.

  Furthermore, according to the control system according to the present invention, among the messages received by the first control device from the second control device, the interval of the continuous message reception times exceeds a threshold value, By changing the transmission timing of the second control device so as to narrow the transmission timing intervals of the plurality of second control devices, the first control device can send messages of all the second control devices in a short time. Can be received.

  Furthermore, according to the control system of the present invention, the first transmission timing change is made only to one second control device among the second control devices that have transmitted the message used for determining whether the message transmission timing change is necessary. By transmitting a message and changing the transmission timing of the second control device by the shift time specified by the first control device, the intervals of the transmission timings of the plurality of second control devices are widened or narrowed. Can do. As described above, the first control device only needs to transmit a message related to the transmission timing change to only one second control device, and thus does not require many messages regarding the transmission timing change.

  Furthermore, according to the control system of the present invention, the second transmission timing change is made only to one second control device among the second control devices that have transmitted the message used for determining whether or not the message transmission timing change is necessary. By transmitting a message and changing the transmission timing of the second control device by the shift time stored in the second control device, the intervals of the transmission timings of the plurality of second control devices are widened or narrowed. Can do. As described above, the first control device only needs to transmit a message related to the transmission timing change to only one second control device, and thus does not require many messages regarding the transmission timing change.

  Furthermore, according to the control system of the present invention, the first transmission timing change message is transmitted to all of the second control devices that have transmitted the message used for determining whether or not the message transmission timing is changed, and the second control is performed. By changing the transmission timing of the device by the shift time designated by the first control device, the intervals of the transmission timings of the plurality of second control devices can be widened or narrowed. As described above, the first control device only needs to send a message related to the transmission timing change to only the specific second control device, not to all the second control devices. do not need. Further, by changing the transmission timings of the plurality of second control devices, the transmission timing shift time of the second control device can be reduced.

  The present invention is not limited to the above-described embodiments, and it goes without saying that all of these possible combinations are included.

  Further, in the above description, the case where the communication control system according to the present invention is applied to a battery control system has been described. However, the present invention is not limited to this, and can be applied to various network systems and has the same effects.

  300, 400 battery control system, 301, 401 BMU, 302, 402 communication interface unit, 303, 403 message reception time acquisition unit, 304, 404 transmission timing change necessity determination unit, 305 first transmission timing change message transmission unit, 306, 406 CAN network, 307, 308, 407, 408 CMU, 309, 409 Communication interface unit, 310, 410 Transmission timing change unit, 405 Second transmission timing change message transmission unit, 411 Timing change time storage unit, 801 1501 header, 802, 1502 payload.

Claims (8)

A first control device and a plurality of second control devices each transmitting a message to the first control device at a predetermined cycle are connected to a network, and the first control device is connected to the second control device. a communication control system and transmits the transmission timing change message to change the message transmission timing to the second control unit according to the received time interval of the message consecutive to receive.
The first control device comprises:
A communication interface unit for transmitting and receiving messages via the network;
A message reception time acquisition unit for obtaining a reception time of a message received from the second control device;
A transmission timing change necessity determination unit that determines whether or not the message transmission timing of the second control device needs to be changed based on a message reception time interval;
First transmission timing for transmitting a first transmission timing change message including a message transmission timing change command and a shift time to the specific second control device based on the determination result of the transmission timing change necessity determination unit A change message sending unit,
Each of the second control devices is
A communication interface unit for transmitting and receiving messages via the network;
A transmission timing change unit that changes the transmission timing of the message based on the content of the received first transmission timing change message,
The communication control system according to claim 1. The first control device comprises:
A communication interface unit for transmitting and receiving messages via the network;
A message reception time acquisition unit for obtaining a reception time of a message received from the second control device;
A transmission timing change necessity determination unit that determines whether or not the message transmission timing of the second control device needs to be changed based on a message reception time interval;
Second transmission timing change message transmission for transmitting a second transmission timing change message including a message transmission timing change command to the specific second control device based on the determination result of the transmission timing change necessity determination unit. And
Each of the second control devices is
A communication interface unit for transmitting and receiving messages via the network;
A timing change time storage unit for storing a shift time of the transmission timing of the message;
A transmission timing change unit that changes the transmission timing of the message based on the content of the received second transmission timing change message and the stored shift time,
The communication control system according to claim 1.   When the message change necessity determination unit of the first control device needs to change the message transmission timing when the reception time interval of consecutive messages received from the second control device is less than a predetermined value. The communication control system according to claim 2, wherein the communication control system is determined.   When the message change necessity determination unit of the first control device receives a continuous message reception time interval from the second control device, the message transmission timing needs to be changed. The communication control system according to claim 2, wherein the communication control system is determined to be present.   The first transmission timing change message transmission unit of the first control device transmits the message used for determining whether or not to change the message transmission timing to one second control device of the second control devices. 3. The communication control system according to claim 2, wherein one transmission timing change message is transmitted.   The second transmission timing change message transmission unit of the first control device transmits the message used for determining whether or not to change the message transmission timing to one second control device of the second control devices. 4. The communication control system according to claim 3, wherein two transmission timing change messages are transmitted.   The first transmission timing change message transmission unit of the first control device transmits the first transmission timing change message to all the second control devices that have transmitted the message used for determining whether or not to change the message transmission timing. The communication control system according to claim 2.

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