JP5286659B2 - In-vehicle device relay system, in-vehicle device relay method, and relay device - Google Patents

Description

  The present invention relates to an in-vehicle device relay system including an in-vehicle device and a relay device that connects between in-vehicle communication lines, and more particularly to an in-vehicle device relay system, an in-vehicle device relay method, and an in-vehicle device relay system capable of controlling control in the entire in-vehicle device relay system. The present invention relates to a relay device included in an in-vehicle device relay system.

  In recent years, with the increase in functions of in-vehicle devices using an electronic control unit (ECU), the number and types of in-vehicle devices arranged in the vehicle tend to increase.

  As the functions of in-vehicle devices increase or become complex, it may be necessary to transmit and receive data including numerical values of physical quantities detected by the in-vehicle devices between the in-vehicle devices and to operate in cooperation between the in-vehicle devices. . Therefore, when one of the plurality of in-vehicle devices performs an abnormal operation, the operation of the other in-vehicle devices may be affected.

Therefore, in the in-vehicle device communication system disclosed in Patent Document 1, one of the plurality of in-vehicle devices is used as a master device that detects the operation state of the other in-vehicle devices, and the master in-vehicle device is an abnormality of the other in-vehicle devices. When an abnormal operation is detected, a process for restarting the in-vehicle device performing the abnormal operation is performed to return to the initial state. As a result, it is possible to return the operation of the entire system to normal and continue the processing.
JP 2004-17676 A

  In the technology disclosed in Patent Document 1, when an abnormality has occurred in the operation of a vehicle-mounted device or a sensor connected to the vehicle-mounted device, it is restarted without affecting other vehicle-mounted devices. It is possible to return to the state and prevent erroneous processing as the entire system.

  However, even when the in-vehicle device and the sensor connected to the in-vehicle device are operating normally, the numerical value of the physical quantity actually detected by the sensor may be an abnormal value for the control of the vehicle. In this case, when one in-vehicle device is provided with a means for examining whether or not the physical quantity contained in the data is an abnormal value, the one in-vehicle device corresponds to the data including the abnormal value. A predetermined abnormal process is performed.

  The in-vehicle device communication system is generally composed of a plurality of in-vehicle devices manufactured by different manufacturers. If a network abnormality is detected for the network to which the in-vehicle device is connected, error data notifying the abnormality is sent to the in-vehicle device communication system, so there is an abnormality in the network. The same determination can be made for all in-vehicle devices.

  However, when the operation of the in-vehicle device and the sensor connected to the in-vehicle device and the network are normal, whether the numerical value indicated by the numerical information included in the data is abnormal is a means for determining whether the numerical value is abnormal. Each in-vehicle device has a judgment. As described above, since the in-vehicle device communication system is generally composed of in-vehicle devices manufactured by different manufacturers, there is a high possibility that the criteria for determining whether or not there is an abnormality are different.

  Therefore, when the numerical value indicated by the numerical information included in the data transmitted / received between the in-vehicle devices, such as when indicating a failure in any part of the vehicle, is abnormal, the in-vehicle device and the abnormality determined to be abnormal The operation of the in-vehicle device that is determined to be not a numerical value affects the control of the in-vehicle device, and there is a possibility that control cannot be taken as control of the vehicle.

  The present invention has been made in view of such circumstances, and an in-vehicle device relay system and an in-vehicle device capable of controlling the determination of normality / abnormality of numerical values included in data transmitted / received between in-vehicle devices with each in-vehicle device. The main purpose is to provide a relay method and a relay device.

  Another object of the present invention is to provide an in-vehicle device relay system, an in-vehicle device relay method, and a relay device that can restore the original operation when an abnormality in numerical values included in data transmitted and received between the in-vehicle devices is resolved. Is to provide.

  Another object of the present invention is to determine whether there is an abnormality with respect to a change in a numerical value included in data transmitted / received between in-vehicle devices over time, and to control prediction prediction for occurrence of the abnormality. A system, an in-vehicle device relay method, and a relay device are provided.

  Another object of the present invention is to detect that an abnormal numerical value is detected even when the numerical value included in the data transmitted / received between the in-vehicle devices is determined to be an abnormal numerical value. An object of the present invention is to provide an in-vehicle device relay system, an in-vehicle device relay method, and a relay device that can be grasped from a record.

The in-vehicle device relay system according to the first aspect of the present invention is connected to a plurality of in-vehicle devices that transmit and / or receive data including numerical information, and the in-vehicle device via an in-vehicle communication line. In a vehicle-mounted device relay system comprising a relay device that receives the received data and transmits the received data to another vehicle-mounted device, the relay device is configured such that the numerical value indicated by the numerical information included in the received data is a numerical value related to vehicle control. comprising a determining means for determining based on whether it is normal to uniform standards of the entire system as if the number is judged that the determination unit to be abnormal, the transmission data including numerical information indicating a predetermined abnormal value It is made to do so.

The in-vehicle device relay system according to the second invention is connected to a plurality of in-vehicle devices that transmit and / or receive data including numerical information, and the in-vehicle device via an in-vehicle communication line. In a vehicle-mounted device relay system comprising a relay device that receives the received data and transmits the received data to another vehicle-mounted device, the relay device is configured such that the numerical value indicated by the numerical information included in the received data is a numerical value related to vehicle control. A determination means for determining whether the value is normal or not based on a unified standard for the entire system , and when the determination means determines that the numerical value is abnormal, the other data for which the numerical value is determined to be abnormal The transmission to the in-vehicle device is stopped.

  In the in-vehicle device relay system according to a third aspect of the present invention, the determination device determines that the numerical value is normal after the determination device determines that the numerical value is abnormal and stops transmitting data. The transmission of the data whose numerical value has been determined to be abnormal is resumed.

  In the in-vehicle apparatus relay system according to a fourth aspect of the present invention, the data includes information indicating the type of the data, and the relay apparatus stores means for storing numerical information included in the received data in time series for each data type. The determination means determines whether the change of the numerical value indicated by the stored numerical information with respect to time for one of the types matches a predetermined condition, and the numerical value is abnormal when the predetermined condition is satisfied. It is characterized that it is judged that it is.

  The in-vehicle device relay system according to a fifth aspect of the invention is characterized in that when the determination unit determines that the numerical value is abnormal, the relay device stores an abnormality record including the numerical value determined to be abnormal. To do.

An in-vehicle device relay method according to a sixth aspect of the present invention includes a plurality of in-vehicle devices that transmit and / or receive data including numerical information, and the in-vehicle device connected to the in-vehicle device via an in-vehicle communication line. In a vehicle-mounted device relay method using a relay device that receives the received data and transmits the received data to another vehicle-mounted device, the relay device is configured such that a numerical value indicated by numerical information included in the received data is a numerical value related to vehicle control. Whether or not it is normal is determined based on the unified standard of the entire system , and when it is determined that the numerical value is abnormal, data including numerical information indicating a predetermined abnormal value is transmitted.

A vehicle-mounted device relay method according to a seventh aspect of the invention is a plurality of vehicle-mounted devices that transmit and / or receive data including numerical information, and is connected to the vehicle-mounted device via an in-vehicle communication line. In a vehicle-mounted device relay method using a relay device that receives the received data and transmits the received data to another vehicle-mounted device, the relay device is configured such that a numerical value indicated by numerical information included in the received data is a numerical value related to vehicle control. determined based on uniform standards of the entire system whether it is normal as, if it is determined that the number is abnormal, numerical ceases transmission to another vehicle device data is determined to be abnormal It is characterized by that.

  In the in-vehicle device relay method according to an eighth aspect of the present invention, the determination device determines that the numerical value is normal after the determination device determines that the numerical value is abnormal and stops the data transmission. The transmission of the data whose numerical value has been determined to be abnormal is restarted.

  In the in-vehicle device relay method according to a ninth aspect of the invention, the data includes information indicating the type of the data, and the relay device stores numerical information included in the received data in time series for each data type, For one of the types, it is determined whether or not the change of the numerical value indicated by the stored numerical information matches a predetermined condition, and if the predetermined condition is satisfied, the numerical value is determined to be abnormal And

  The in-vehicle device relay method according to a tenth aspect of the invention is characterized in that when the relay device determines that the numerical value is abnormal, it stores an abnormality record including the numerical value determined to be abnormal.

A relay device according to an eleventh aspect of the present invention is connected to a plurality of external devices via an in-vehicle communication line, receives data including numerical information from one external device, and transmits the received data to another in-vehicle device. The relay device includes a determination unit that determines whether the numerical value indicated by the numerical information included in the received data is normal as a numerical value related to vehicle control based on a unified standard of the entire system , and the numerical value is abnormal. If the determination means determines that there is, data including numerical information indicating a predetermined abnormal value is transmitted.

A relay device according to a twelfth aspect of the present invention is connected to a plurality of external devices via an in-vehicle communication line, receives data including numerical information from one external device, and transmits the received data to another in-vehicle device. The relay device includes a determination unit that determines whether the numerical value indicated by the numerical information included in the received data is normal as a numerical value related to vehicle control based on a unified standard of the entire system , and the numerical value is abnormal. If the determination means determines that there is, the transmission of the data whose numerical value is determined to be abnormal to another in-vehicle device is stopped.

  In the relay device according to the thirteenth aspect, if the determination means determines that the numerical value is normal after the determination means determines that the numerical value is abnormal and stops transmitting data, the numerical value is abnormal. The transmission of the determined data is resumed.

  In the relay device according to a fourteenth aspect, the data includes information indicating the type of the data, and includes means for storing numerical information included in the received data in time series for each data type, and the determination unit includes: For one of the types, it is determined whether or not the change of the numerical value indicated by the stored numerical information matches a predetermined condition, and when the predetermined condition is satisfied, the numerical value is determined to be abnormal Features.

  The relay apparatus according to the fifteenth aspect of the present invention stores an abnormality record including a numerical value determined to be abnormal when it is determined that the numerical value is abnormal.

  In the first invention, the sixth invention, and the eleventh invention, the in-vehicle device constituting the in-vehicle device relay system transmits data including numerical information to the relay device, and the relay device receives the data received from each in-vehicle device as another in-vehicle device. Send to. The relay device determines whether or not the numerical value indicated by the numerical information included in the received data is normal. If it is determined that the numerical value is abnormal, data including numerical information indicating a predetermined abnormal value is transmitted to another in-vehicle device.

  In the second invention, the seventh invention, and the twelfth invention, the in-vehicle device constituting the in-vehicle device relay system transmits data including numerical information to the relay device, and the relay device receives the data received from each in-vehicle device as another in-vehicle device. Send to. The relay device determines whether or not the numerical value indicated by the numerical information included in the received data is normal. When it is determined that the numerical value is abnormal, the relay device stops transmitting the data determined to be abnormal to the other in-vehicle device.

  In the third invention, the eighth invention, and the thirteenth invention, the relay device constituting the in-vehicle device relay system determines that the numerical value indicated by the numerical information included in the received data is abnormal, and the other in-vehicle device of the data After the transmission to is stopped, when it is determined that the numerical value information included in the received data is normal, the transmission of the data is resumed.

  In the fourth invention, the ninth invention, and the fourteenth invention, the relay device constituting the in-vehicle device relay system stores the received data in time series for each type of the data, and the numerical value indicated by the numerical information for one type If the change over time matches a predetermined condition, it is determined that the numerical value for the one type is abnormal.

  In the fifth invention, the tenth invention, and the fifteenth invention, when the relay device constituting the in-vehicle device relay system determines that the numerical value indicated by the numerical information included in the received data is abnormal, the numerical value determined to be abnormal The abnormal record including is memorized.

  In the first invention, the sixth invention, and the eleventh invention, the relay device that receives data including numerical information from each in-vehicle device of the in-vehicle device relay system is the operation itself of each in-vehicle device and the transmission state in the in-vehicle communication line. When the numerical value indicated by the numerical information included in the received data is an abnormal numerical value, even though it is not abnormal, a numerical value indicating a predetermined abnormal value so that each vehicle-mounted device can uniformly determine that it is abnormal Data including information is transmitted to each in-vehicle device. Accordingly, each in-vehicle device that has received the data including the numerical information indicating the predetermined abnormal value integrally determines that the numerical value is abnormal. Therefore, the normal / abnormal determination with respect to the numerical value indicated by the numerical information included in the data is performed. Can be controlled by each in-vehicle device.

  In the second invention, the seventh invention, and the twelfth invention, the relay device that receives data including numerical information from each in-vehicle device of the in-vehicle device relay system is the operation itself of each in-vehicle device and the transmission state in the in-vehicle communication line. When the numerical value indicated by the numerical information is an abnormal numerical value even though it is not abnormal, the transmission of the data to other in-vehicle devices is stopped in order to determine that the in-vehicle devices are unified and abnormal. . As a result, the in-vehicle devices that can no longer receive the data are unified to determine that the numerical value for the type of data is an abnormal numerical value, and therefore normal / abnormal with respect to the numerical value indicated by the numerical information included in the data. Judgment can be controlled by each in-vehicle device.

  According to the third invention, the eighth invention, and the thirteenth invention, the relay device constituting the in-vehicle device relay system is abnormal when the numerical value indicated by the numerical information included in the received data returns from normal to normal. Resume transmission of data that has been determined. Thereby, even after it is determined that the numerical value indicated by the numerical information included in the data is abnormal, the original operation can be restored if the numerical value indicated by the numerical information included in the data returns to normal.

  In the case of the fourth, ninth and fourteenth inventions, the relay device constituting the in-vehicle device relay system stores the received data in time series for each type of the data. As a result, it is possible to determine abnormality with respect to the change of the numerical value indicated by the numerical information included in the data over time, and even if the numerical value itself indicated by the numerical information is not abnormal with respect to a single reception of the data, When the change with respect to the passage of time indicates an abnormality, an abnormality of the numerical value indicated by the numerical information can be predicted, and the prediction judgment for the occurrence of the numerical abnormality of the numerical information in each in-vehicle device can be controlled.

  In the fifth invention, the tenth invention, and the fifteenth invention, the relay device constituting the in-vehicle device relay system is abnormal when it is determined that the numerical value indicated by the numerical information included in the received data is abnormal. Since the abnormal record including the determined numerical value is stored, it is possible to grasp from the abnormal record that the abnormal numerical value has been detected in the past even when the in-vehicle device relay system is operating normally.

  Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof.

(Embodiment 1)
FIG. 1 is a schematic diagram showing the configuration of the in-vehicle device communication system according to Embodiment 1 of the present invention. The in-vehicle device communication system connects between the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f using an electronic control unit (ECU) and the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f. In-vehicle communication lines 2a, 2b, and 2c, in-vehicle communication lines 2a, 2b, and 2c, relay devices 3a, 3b, and 3c, communication lines 4 that connect between the relay devices 3a, 3b, and 3c, and in-vehicle devices Sensors 5a and 5e connected to 1a and 1e.

  The in-vehicle devices 1a and 1b are connected to the in-vehicle communication line 2a, the in-vehicle devices 1c and 1d are connected to the in-vehicle communication line 2b, and the in-vehicle devices 1e and 1f are connected to the in-vehicle communication line 2c in a bus type. A relay device 3a is further connected in a bus form to the in-vehicle communication line 2a, and the relay device 3a can receive data transmitted by the in-vehicle devices 1a and 1b. Similarly, a relay device 3b is further connected to the in-vehicle communication line 2b in a bus shape, and the relay device 3b can receive data transmitted by the in-vehicle devices 1c and 1d. A relay device 3c is further connected to the in-vehicle communication line 2c in a bus type, and the relay device 3c can receive data transmitted by the in-vehicle devices 1e and 1f.

  The relay devices 3a, 3b, and 3c are connected via the communication line 4 and can transmit and receive data to and from each other. The in-vehicle devices 1a and 1b can exchange data with the in-vehicle devices 1c, 1d, 1e, and 1f connected to the other in-vehicle communication lines 2b and 2c via the relay devices 3a, 3b, and 3c and the communication line 4. is there. Although the communication line 4 is described as a packet switching network in the first embodiment, it may be constituted by in-vehicle communication lines similar to the in-vehicle communication lines 2a, 2b, and 2c.

  The in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f are devices that use an electronic control device and can transmit data including numerical values of various physical quantities or be controlled by a microcomputer such as an engine and a brake. For example, one in-vehicle device 1a functions as an ABS (Antilock Break System) and is connected to a sensor 5a that detects the rotational speed of the wheel. The in-vehicle device 1a controls the brake based on the wheel speed detected via the sensor 5a during braking of the vehicle, and transmits data including the measured value of the wheel speed to the other in-vehicle device 1b and the relay device 3a. Any of the vehicle-mounted devices 1b, 1c, 1d, 1e, and 1f enables the measured value of the wheel speed to be used for the operation.

  The in-vehicle communication lines 2a, 2b, and 2c are communication lines based on a CAN (Control Area Network) protocol, and the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f are connected to the in-vehicle communication lines 2a, 2b, and 2c. Data can be transmitted and received by generating / detecting a signal based on CAN. In the first embodiment, a communication line based on CAN will be described as an example of the in-vehicle communication lines 2a, 2b, and 2c. However, the in-vehicle communication lines 2a, 2b, and 2c used in the in-vehicle device communication system of the present invention are not limited to this, and data transmission / reception based on a protocol such as LIN (Local Interconnect Network), FlexRay, or the like may be possible. Furthermore, you may comprise in-vehicle communication line 2a, 2b, 2c from which the speed of data transmission / reception differs according to the kind of data transmitted / received, respectively.

  The in-vehicle communication lines 2a, 2b, and 2c based on CAN include two signal lines, detect a differential voltage generated between the signal lines, detect a signal, and receive data. The potentials of the two signal lines are set to CAN_H level and CAN_L level, respectively. The state where there is no differential voltage between the two signal lines is “1” of the digital signal, and the state where there is a differential voltage is the digital signal. Corresponds to “0”. The in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f connected to the in-vehicle communication lines 2a, 2b, and 2c generate a differential voltage between the signal lines of the in-vehicle communication lines 2a, 2b, and 2c. A signal represented by “0” and “1” can be generated to transmit data.

  The relay device 3a receives data including numerical values of various physical quantities transmitted from the in-vehicle devices 1a and 1b via the connected in-vehicle communication line 2b, and stores the data. The relay device 3a stores data for each type of physical quantity and transmits the data to the in-vehicle devices 1a and 1b and the other relay devices 3b and 3c as necessary. In the CAN, when the in-vehicle devices 1a and 1b transmit data including numerical values of various physical quantities, they are expressed by signals defined as data signals (data frames), and transmitted when requesting transmission of numerical values of various physical quantities. It is represented by a signal defined as a request signal (remote frame) and transmitted. The relay device 3a transmits data using a data signal in response to a transmission request signal from the in-vehicle devices 1a and 1b.

  In CAN, an ID (Identifier) is assigned for each type of physical quantity. The data including numerical values of various physical quantities transmitted and received between the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f and the relay devices 3a, 3b, and 3c include an ID assigned for each type and a measured value thereof. . The relay device 3a can identify an ID from the data transmitted from the in-vehicle devices 1a and 1b and determine which physical quantity the transmitted data includes.

  FIG. 2 is a block diagram showing an internal configuration of the in-vehicle device 1a and the relay device 3a constituting the in-vehicle device relay system according to Embodiment 1 of the present invention. The in-vehicle device 1a includes a control unit 10 that controls the operation of each component shown below, a power supply circuit 11 that supplies power to each component, a storage unit 12 that stores data necessary for control, and an in-vehicle communication line The communication control part 13 which controls communication with 2a, the input part 14 which inputs the signal from the sensor 5a, and the output part 15 which outputs a control signal to the control object apparatus which is not shown in figure are provided. Since the other vehicle-mounted devices 1b, 1c, 1d, 1e, and 1f have the same configuration as the vehicle-mounted device 1a, detailed description thereof is omitted. Note that, depending on the in-vehicle device, the input unit 14 and the output unit 15 may include only one of them.

  The control unit 10 of the in-vehicle device 1a is supplied with electric power from a vehicle alternator (not shown) via the power supply circuit 11, and represents a measurement value from the sensor 5a connected to the in-vehicle device 1a via the input unit 14. Is detected, and a control signal is transmitted to the control target device connected to the in-vehicle device 1a via the output unit 15. The storage unit 12 includes a volatile memory, and the control unit 10 temporarily stores various information generated in the course of processing or measurement values represented by a signal input from the sensor 5a.

  The communication control unit 13 has a network controller chip and realizes communication with the in-vehicle communication line 2a. The control unit 10 of the in-vehicle device 1a generates the differential voltage between the signal lines of the in-vehicle communication line 2a through the communication control unit 13 as described above, transmits data, and detects the differential voltage between the signal lines. And receive data. The control unit 10 of the in-vehicle device 1a detects a signal from the sensor 5a at regular time intervals of, for example, milliseconds, and transmits data including a numerical value of the physical quantity indicated by the detected signal from the communication control unit 13.

  Moreover, the control part 10 of the vehicle-mounted apparatus 1a detects the differential voltage between signal lines via the communication control part 13, receives data, and the numerical value of various physical quantities contained in the received data is a normal numerical value. Determine whether or not. Note that the criteria for determination differ between the in-vehicle device 1a and the other in-vehicle devices 1b, 1c, 1d, 1e, and 1f. For example, when the type of the physical quantity included in the received data is the engine speed, the in-vehicle device 1a determines whether the numerical value is normal depending on whether the numerical value is within a predetermined positive range. On the other hand, the in-vehicle device 1b determines whether or not it is normal only by whether or not the numerical value is a positive value with respect to the value of the engine speed. The signals transmitted and received between the in-vehicle communication lines 2a, 2b, and 2c based on the CAN regulations represent digital data of “0” and “1”, but various physical quantities included in the data represented by “0” and “1”. It is possible to determine whether or not it is a positive value by defining that the numerical value is read as an integer value with a positive / negative value.

  Further, for example, when the engine speed is specified to be expressed by 5 bits and it is specified that setting all bits to “1” as a signal indicating the value of the engine speed is prohibited. When all the bits are “1”, the control unit 10 of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f similarly determines that the value is abnormal. Or the control part 10 of vehicle equipment 1a, 1b, 1c, 1d, 1e, 1f judges that the numerical value of a physical quantity is abnormal, when the data containing the physical quantity of the kind required for operation | movement cannot be received.

  The relay device 3a includes a control unit 30 that controls the operation of each component shown below, a power supply circuit 31 that supplies power to each component, a storage unit 32 that includes a volatile memory, and an in-vehicle communication line 2a. A first communication unit 33 connected and a second communication unit 34 connected to the communication line 4 are provided. Since the other relay apparatuses 3b and 3c have the same configuration as the relay apparatus 3a, detailed description thereof is omitted.

  The control unit 30 of the relay device 3a is supplied with electric power from a vehicle alternator (not shown) via a power supply circuit 31, and reads a control program from a built-in ROM (Read Only Memory) (not shown) to the storage unit 32 to thereby repeat the relay device 3a. Works as.

  Further, the control unit 30 of the relay device 3a reads the types and numerical values of various physical quantities from the data received from the in-vehicle devices 1a and 1b, and stores the numerical values for each physical quantity type in a DB (Data Base) 321 of the storage unit 32. To do. Specifically, the control unit 30 of the relay device 3a specifies IDs of various physical quantities for the received data, and stores numerical values in association with the IDs. Data transmitted from the in-vehicle devices 1c and 1d is once stored in the DB 321 of the storage unit 32 of the relay device 3b and relayed from the relay device 3b to the relay device 3a. Similarly, data transmitted from the in-vehicle devices 1e and 1f are once stored in the DB 321 of the storage unit 32 of the relay device 3c and relayed from the relay device 3c to the relay device 3a. The control unit 30 of the relay device 3a also stores, for the data relayed from the relay devices 3b and 3c, a numerical value for each type of physical quantity included in the data in the DB 321 of the storage unit 32.

  The control unit 30 of the relay device 3a stores numerical values included in the received data in the DB 321 in time series for a predetermined type of physical quantity. For example, as for the exhaust oxygen concentration, a numerical value of the exhaust oxygen concentration is stored together with the time when data including the exhaust oxygen concentration is received. The time is acquired from a timer unit (not shown) built in the control unit 30.

  Note that the control unit 30 of the relay device 3a is directed to any of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, 1f, and 1g for each physical quantity stored in the DB 321 of the storage unit 32. It may be set whether to transmit, that is, to which in-vehicle communication line 2a or communication line 4. Further, the transmission timing is stored in the storage unit 32 for each physical quantity stored in the DB 321 of the storage unit 32, and the control unit 30 transmits the data including various physical quantities at the respective transmission timings. Good.

  The first communication unit 33 includes a network controller chip, and realizes data transmission / reception based on CAN via the in-vehicle communication line 2a. The control unit 30 generates a differential voltage between the signal lines of the in-vehicle communication line 2a via the first communication unit 33, transmits data, detects the differential voltage between the signal lines, and receives the data. The control unit 30 of the relay device 3a can transmit and receive data with the other relay devices 3b and 3c via the communication line 4 by the second communication unit 34.

  In addition, the storage unit 32 stores, for each type of physical quantity stored in the DB 321, a determination criterion 322 for determining whether or not the stored numerical value is normal as the numerical value of each physical quantity. Yes. For example, the criterion 322 stipulates that the wheel speed stored in the DB 321 is determined to be abnormal when the wheel speed is equal to or higher than a predetermined speed. Further, it is defined that when the exhaust oxygen concentration stored in the DB 321 is decreased by 10% or more with respect to the lapse of 5 minutes, it is determined that the abnormality is present.

  The storage unit 32 further stores, as an abnormality record 323, a record when it is determined that the physical quantity value stored in the DB 321 is abnormal based on the determination criterion 322. The abnormality record 323 includes the physical quantity determined to be abnormal and the numerical value thereof, and the time determined to be abnormal.

  The storage unit 32 stores various information generated in the process of the control unit 30. Although the storage unit 32 is a volatile memory, it has a built-in battery (not shown) so that the storage of the DB 321 and the determination reference 322 can be held even when power is not supplied through the power supply circuit 31.

  In the in-vehicle device relay system of the present invention configured as described above, the control unit 30 of the relay device 3a receives data from the in-vehicle devices 1a, 1b, 1c, 1d, 1e, 1f, 1g, and 1h and is included in the data. A process of storing a numerical value for each type of physical quantity to be stored in the DB 321 of the storage unit 32 is described. FIG. 3 shows that the control unit 30 of the relay device 3a constituting the in-vehicle device relay system according to Embodiment 1 of the present invention receives data from the in-vehicle devices 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h. 5 is a flowchart showing a processing procedure stored in a DB 321 of a storage unit 32.

  The control unit 30 of the relay device 3a receives the data transmitted to the in-vehicle communication line 2a by the first communication unit 33 and the data transmitted to the communication line 4 from the relay devices 3b and 3c (step S11). The control unit 30 of the relay device 3a reads the ID indicating the type of physical quantity and the numerical value of the physical quantity from the received data (step S12), and stores the numerical value in the DB 321 of the storage unit 32 in association with the read ID (step S13). ), The process is terminated. If the extracted ID is set to be stored together with the time, it is stored in the DB 321 together with the time.

  Each time the control unit 30 of the relay device 3a receives data via the first communication unit 33 and the second communication unit 34, the control unit 30 repeats the process shown in FIG. 3 and stores the numerical value of each physical quantity in the DB 321 of the storage unit 32. To do. In the first embodiment, for example, when the in-vehicle device 1a transmits data including a numerical value of the wheel speed every 10 milliseconds, the control unit 30 of the relay device 3a stores the data in the DB 321 of the storage unit 32 every 10 milliseconds. Update a wheel speed value.

  FIG. 4 is an explanatory diagram illustrating an example of each physical quantity stored in the DB 321 of the storage unit 32 of the relay device 3a configuring the in-vehicle device relay system according to Embodiment 1 of the present invention. In the example shown in FIG. 4, the ID of the physical quantity included in the data received from the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f in step S13 of the processing procedure by the control unit 30 of the relay device 3a shown in FIG. And the example which memorize | stored the numerical value in DB321 of the memory | storage part 32 is shown. In the example illustrated in FIG. 4, physical quantities indicated by IDs such as wheel speed, steering angle, engine speed, and exhaust oxygen concentration are stored as examples of physical quantities stored in the DB 321 of the storage unit 32. In CAN, the ID of each physical quantity is assigned by number or the like for each type, but the example shown in FIG. 4 shows the contents of each physical quantity instead of a specific ID for the sake of simplicity. As an example, the numerical values of the physical quantities of the wheel speed, steering angle, engine speed, and exhaust oxygen concentration are 60000 (rpm), 20 (deg), 3000 (rpm), and 16 (%), respectively.

  As shown in FIG. 4, a criterion for determining whether or not there is an abnormality is set in the determination criterion 322 with respect to the numerical value of each physical quantity stored in the DB 321 of the storage unit 32. FIG. 5 is an explanatory diagram showing an example of the contents of the determination criterion 322 stored in the storage unit 32 of the relay device 3a constituting the in-vehicle device relay system according to Embodiment 1 of the present invention. FIG. 5 shows a criterion that an abnormality should be determined when the numerical value indicating the wheel speed is greater than a predetermined value V (wheel speed> V). Similarly, when the numerical value indicating the engine speed is larger than the predetermined value W (engine speed> W), it is determined that the engine is abnormal, and the numerical value indicating the steering angle is smaller than the predetermined value minus X (steering angle <−−). X) or a reference value indicating that it is determined to be abnormal when it is larger than a predetermined value Y (steering angle> Y). Further, there is shown a criterion that when the exhaust oxygen concentration is decreased by more than Z ° C. in 5 minutes (exhaust oxygen concentration> −Z (° C./5 minutes)), it should be determined as abnormal.

  Next, the processing procedure performed when the control unit 30 of the relay device 3a determines whether or not the numerical value of each physical quantity stored in the DB 321 of the storage unit 32 is abnormal based on the determination criterion 323, and is abnormal. explain.

  FIG. 6 shows a processing procedure for determining whether or not the numerical value of each stored physical quantity is abnormal by the control unit 30 of the relay device 3a constituting the in-vehicle device relay system according to Embodiment 1 of the present invention. It is a flowchart which shows the process sequence when it is judged that it is.

  The flowchart shown in FIG. 6 is set when the control unit 30 of the relay device 3a receives a numerical transmission request transmitted to the in-vehicle communication line 2a by the first communication unit 33 for one physical quantity, or is set. A process is shown when data including a physical quantity value is transmitted when the transmission timing condition is satisfied or when data is relayed to the other relay apparatuses 3b and 3c.

  When transmitting the data including the numerical value for one physical quantity, the control unit 30 of the relay device 3a reads the numerical value of the physical quantity from the DB 321 of the storage unit 32 (step S21). The control unit 30 of the relay device 3a determines whether or not the read numerical value of the physical quantity is normal based on the determination criterion 322 (step S22).

  When it is determined that the numerical value is normal (S22: YES), the control unit 30 of the relay device 3a transmits data including the read numerical value as a physical quantity numerical value (step S23), and ends the process.

  In addition, about step S23, when the data containing the numerical value of one physical quantity are transmitted with respect to the transmission request from vehicle equipment 1a, 1b, or when the conditions of the transmission timing to vehicle equipment 1a, 1b are satisfy | filled. When transmitting, the first communication unit 33 transmits to the in-vehicle communication line 2a. When data including a numerical value of one physical quantity is received from one of the in-vehicle devices 1a and 1b and transmitted to the other relay devices 3b and 3c, the second communication unit 34 causes the relay devices 3b and 3c to pass through the communication line 4. Send to.

  On the other hand, when the control unit 30 of the relay device 3a determines that the numerical value is abnormal in step S22 (S22: NO), each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f has an abnormal numerical value as well. In order to determine that there is, data including an abnormal value in which all bits representing the physical quantity value of the data are set to “1” is transmitted as the physical quantity value (step S24). Further, the control unit 30 of the relay device 3a obtains the time at which the numerical value is determined to be abnormal in step S22 from a time measuring unit (not shown) and stores it in the abnormality record 323 of the storage unit 32 together with the numerical value determined to be abnormal. (Step S25), the process ends.

  When the control unit 30 of the relay device 3a receives the transmission request transmitted to the in-vehicle communication line 2a by the first communication unit 33 for one physical quantity in the processing shown in FIG. 6, or the set transmission timing condition When the above is satisfied, or the case where data is relayed to the other relay devices 3b and 3c is repeated as a cause. As a result, for the physical quantity that the control unit 30 of the relay device 3a determines that the numerical value is abnormal according to the criterion set in the determination criterion 322, the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f are also unified. The numerical value is determined to be abnormal. Therefore, it is possible to control the normal / abnormal judgment of the numerical value of the physical quantity in the entire in-vehicle apparatus relay system.

(Embodiment 2)
In the first embodiment, when the control unit 30 of the relay device 3a configuring the in-vehicle device relay system determines that the numerical value of each physical quantity stored in the DB 321 of the storage unit 32 is abnormal, each of the in-vehicle devices 1a and 1b. , 1c, 1d, 1e, and 1f, data including an abnormal value that is determined to be abnormal in the same manner as the numerical value of the physical quantity is generated and transmitted.

  In the second embodiment, when the control unit 30 of the relay device 3a determines that the numerical value of each physical quantity stored in the DB 321 of the storage unit 32 is abnormal, the in-vehicle device 1a stores data including the physical quantity value. , 1b, 1c, 1d, 1e, and 1f.

  Since the hardware configuration of the in-vehicle device relay system in the second embodiment is the same as that in the first embodiment, a detailed description thereof is omitted, and the control unit 30 of the relay device 3a uses the same reference numerals as those in the first embodiment. Processing when it is determined that the numerical value of the physical quantity is abnormal will be described below.

  FIG. 7 shows the processing procedure for determining whether or not the numerical value of each physical quantity stored is abnormal by the control unit 30 of the relay device 3a constituting the in-vehicle device relay system according to Embodiment 2 of the present invention. It is a flowchart which shows the process sequence in the case of being.

  In the flowchart shown in FIG. 7, the processes in steps S31 to S33 out of steps S31 to S35 are the same as the processes in steps S21 to S23 shown in FIG. 6 in the first embodiment. The detailed explanation is omitted.

  When the control unit 30 of the relay device 3a determines that the numerical value is abnormal in the determination process of step S32 (S32: NO), the numerical values of the vehicle-mounted devices 1a, 1b, 1c, 1d, 1e, and 1f are similarly abnormal. The transmission of the data including the numerical value of the physical quantity is stopped so as to determine that it is (step S34). Next, the control unit 30 of the relay device 3a acquires the time when the value is determined to be abnormal in step S32 from a time measuring unit (not shown), and stores it in the abnormality record 323 of the storage unit 32 together with the value determined to be abnormal. (Step S35), and the process ends.

  In the second embodiment, for one physical quantity, even when the control unit 30 of the relay device 3a receives a transmission request from the in-vehicle devices 1a and 1b, the set transmission timing condition is satisfied. Even if there is, the data is not transmitted when it is determined that the numerical value is abnormal. As a result, each of the in-vehicle devices 1a, 1b, 1c, 1d, 1e, and 1f that cannot receive the data including the type and the numerical value of the physical quantity is determined to be unified with respect to the numerical value of the physical quantity. Therefore, it is possible to control the normality / abnormality judgment with respect to the numerical value of the physical quantity in the entire in-vehicle apparatus relay system.

  When the control unit 30 of the relay device 3a receives a transmission request transmitted to the in-vehicle communication line 2a by the first communication unit 33 for one physical quantity, or when a set transmission timing condition is satisfied. Alternatively, whenever it is necessary to transmit data including the numerical value of the physical quantity, such as when data is relayed to other relay devices 3b and 3c, the processing shown in FIG. 7 is repeated. Accordingly, even when the control unit 30 of the relay device 3a determines that the abnormality is once abnormal in step S32 shown in FIG. 7 and the transmission of the data including the numerical value of the physical quantity is stopped, the step S32 is executed again after that. When it is determined that the numerical value is normal in this determination process, it is possible to resume transmission of data including the numerical value of the physical quantity, and the operation of the entire system can be restored.

  In the first embodiment and the second embodiment, when the control unit 30 of the relay device 3a determines that the physical quantity value is abnormal, the control unit 30 determines that the type and the numerical value of the physical quantity are abnormal in the abnormality record 323. Therefore, it is possible to grasp the fact that the numerical value is determined to be abnormal by referring to the abnormality record 323 in the storage unit 32 later. Thereby, it becomes easy to specify the failure location etc. of the vehicle carrying the in-vehicle device relay system of the present invention.

  In the first embodiment and the second embodiment, the target for the controller 30 of the relay device 3a to determine whether the numerical value is abnormal has been described as a physical quantity obtained from the sensors 5a, 5e and the like. However, the present invention is not limited to a physical quantity as a normal / abnormal judgment target, and may be configured to determine whether or not a value such as a computation amount obtained by computation control of one in-vehicle device is abnormal.

  In addition, physical quantities included in data transmitted and received between in-vehicle devices are not only information expressed by numerical values such as temperature, speed, angle, etc., but also information such as front / rear / left / right / up / down directions, on / off, high / low, and color. When data is transmitted as data, it is conceivable to assign a numerical value to identify each. Therefore, whether or not the numerical value is abnormal is determined by determining whether or not the numerical value assigned to identify each numerical value is abnormal. For example, where information obtained from one on-vehicle device should be “low” as the vehicle status, it may be determined to be abnormal when detected as “high”. In this case, when numerical values “1” and “0” are assigned to “high” and “low”, respectively, it is determined that the numerical value “1” is abnormal. As described above, the determination of whether or not the numerical value is normal includes not only the case where the numerical value itself indicates a physical quantity, but also the determination of the numerical value assigned to each state in an identifiable manner.

It is a schematic diagram which shows the structure of the vehicle-mounted apparatus communication system in Embodiment 1 of this invention. It is a block diagram which shows the internal structure of the vehicle equipment and relay device which comprise the vehicle equipment relay system in Embodiment 1 of this invention. It is a flowchart which shows the process sequence in which the control part of the relay apparatus which comprises the vehicle-mounted apparatus relay system in Embodiment 1 of this invention receives data from a vehicle-mounted apparatus, and memorize | stores it in DB of a memory | storage part. It is explanatory drawing which shows the example of each physical quantity memorize | stored in DB of the memory | storage part of the relay apparatus which comprises the vehicle-mounted apparatus relay system in Embodiment 1 of this invention. It is explanatory drawing which shows the example of the content of the judgment standard memorize | stored in the memory | storage part of the relay apparatus which comprises the vehicle-mounted apparatus relay system in Embodiment 1 of this invention. When the control unit of the relay device that constitutes the in-vehicle device relay system according to Embodiment 1 of the present invention determines that the processing procedure for determining whether or not the stored numerical value of each physical quantity is abnormal and the numerical value is abnormal It is a flowchart which shows the process sequence of. Processing procedure for determining whether or not the stored numerical value of each physical quantity is abnormal by the control unit of the relay device that constitutes the in-vehicle device relay system according to Embodiment 2 of the present invention, and the processing procedure when the numerical value is abnormal It is a flowchart which shows.

Explanation of symbols

1a, 1b, 1c, 1d, 1e, 1f In-vehicle device 10 Control unit 2a, 2b, 2c In-vehicle communication line 3a, 3b, 3c Relay device 30 Control unit 32 Storage unit 321 DB
322 Criteria 323 Abnormal record

Claims (9)

A plurality of in-vehicle devices that transmit and / or receive data including numerical information, and are connected to the in-vehicle device via an in-vehicle communication line, receive data from one in-vehicle device, and receive the received data from another in-vehicle device In a vehicle-mounted device relay system comprising a relay device that transmits to a device,
The relay device is
Comprising a judging means for judging whether or not the numerical value indicated by the numerical information included in the received data is normal as a numerical value related to the control of the vehicle based on a unified standard of the entire system ;
When the determination means determines that the numerical value is abnormal, data including numerical information indicating a predetermined abnormal value is transmitted. The data includes information indicating the type of the data,
The relay device is
Means for storing numerical information included in received data in time series for each type of data,
The determination means includes
For one of the types, it is determined whether or not the change in the numerical value indicated by the stored numerical information matches a predetermined condition, and if the predetermined condition is satisfied, the numerical value is determined to be abnormal. The in-vehicle device relay system according to claim 1, wherein The relay device is
The in-vehicle device relay system according to claim 1 or 2, wherein when the determination unit determines that the numerical value is abnormal, an abnormality record including the numerical value determined to be abnormal is stored. A plurality of in-vehicle devices that transmit and / or receive data including numerical information, and are connected to the in-vehicle device via an in-vehicle communication line, receive data from one in-vehicle device, and receive the received data from another in-vehicle device In a vehicle-mounted device relay method using a relay device that transmits to a device,
The relay device is
Determine whether the numerical value indicated by the numerical information included in the received data is normal as the numerical value related to the control of the vehicle based on the unified standard of the entire system ,
When it is determined that the numerical value is abnormal, data including numerical information indicating a predetermined abnormal value is transmitted. The data includes information indicating the type of the data,
The relay device is
Numeric information contained in the received data is stored in time series for each type of data,
For one of the types, it is determined whether or not a change in the numerical value indicated by the stored numerical information matches a predetermined condition, and if the predetermined condition is satisfied, the numerical value is determined to be abnormal. The in-vehicle device relay method according to claim 4, wherein The relay device is
The in-vehicle device relay method according to claim 4 or 5, wherein when the numerical value is determined to be abnormal, an abnormality record including the numerical value determined to be abnormal is stored. In a relay device that is connected to a plurality of external devices via an in-vehicle communication line, receives data including numerical information from one external device, and transmits the received data to another in-vehicle device.
Comprising a judging means for judging whether or not the numerical value indicated by the numerical information included in the received data is normal as a numerical value related to the control of the vehicle based on a unified standard of the entire system ;
The relay device, wherein when the determination unit determines that the numerical value is abnormal, data including numerical information indicating a predetermined abnormal value is transmitted. The data includes information indicating the type of the data,
Means for storing numerical information included in received data in time series for each type of data,
The determination means includes
For one of the types, it is determined whether or not a change in the numerical value indicated by the stored numerical information matches a predetermined condition, and if the predetermined condition is satisfied, the numerical value is determined to be abnormal. 8. The relay apparatus according to claim 7, wherein The relay apparatus according to claim 7 or 8, wherein when the numerical value is determined to be abnormal, an abnormal record including the numerical value determined to be abnormal is stored.

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