JP6137033B2 - In-vehicle network system and in-vehicle relay device - Google Patents

Description

  The present invention relates to an in-vehicle network system in which networks are connected by an in-vehicle relay device and the in-vehicle relay device.

  For example, in a diagnosis communication of an in-vehicle network system, an ECU (Electronic Control Unit) specifies a minimum frame transmission interval (STmin) from an external device connected to the network in accordance with ISO (International Organization for Standardization) 15765. (Notification by flow control) is defined (see Patent Document 1), however, a sufficient margin is often not secured in the STmin value, and STmin = 0 (= 0 ms) may be used as an operation of ISO15765. . This is because the longer the frame transmission interval, the longer the communication time, and particularly when a large amount of data is transmitted from the external device to the ECU.

JP-T-2005-534267

  By the way, as an example of transmitting a large amount of data from the external device to the ECU, by executing a re-program that rewrites the ECU program by the diagnostic tool as the external device, by continuously transmitting a large amount of data from the diagnostic tool to the ECU, An ECU may receive a large amount of data from a diagnostic tool in a short time. When the network is heavily loaded in such a state, the diagnostic frame is operated with a lower priority than the control frame, so the diagnostic frame is not received (frame loss), and the ECU cannot receive data and communicates. There will be a delay. Such a communication delay occurs even when the network load temporarily becomes extremely high during transmission of a normal diagnostic frame from the diagnostic tool to the ECU.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a frame even when the network is subjected to a high load when the in-vehicle control device communicates the frame communication interval to an external device connected to the network. An object is to provide an in-vehicle network system and an in-vehicle relay device that can prevent disappearance.

  According to the first aspect of the present invention, when the in-vehicle control device receives the first frame from the external device, it transmits the flow control indicating the communication performance. The in-vehicle relay device determines the communication load of the network on the in-vehicle control device side by the communication load determination means, and when the communication load is high when the flow control is received from the in-vehicle control device, the communication performance indicated by the flow control is shown. It is rewritten so as to decrease and transmitted to the external device. As a result, when the external device transmits a large amount of contiguous frames to the in-vehicle control device, for example, for reprologging, the communication load of the network increases, or a normal contiguous frame is transmitted from the external device to the in-vehicle control device. When the communication load on the network temporarily becomes extremely high, the external device transmits the contiguous frame with a large transmission interval, so the in-vehicle control device transmits the consequential frame from the external device. Can be reliably received.

Block diagram showing in-vehicle network system in reference form Schematic diagram showing the transmission queue The figure which shows the communication procedure between diagnostic tool and ECU Diagram showing flow control parameters The figure which shows the communication procedure between the conventional diagnostic tool, GW, and ECU The figure which shows the communication procedure between the diagnostic tool of this invention, GW, and ECU Flow chart showing FC reception processing The flowchart which shows FC reception processing in one execution form

( Reference form)
Hereinafter, a reference embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the in-vehicle network system includes networks A to C mounted on the vehicle 1.
The network A is composed of a bus 2 and a gateway device (hereinafter referred to as GW) 3 (corresponding to an in-vehicle relay device and a communication load determining means), and the GW 3 as a node is connected to the bus 2.
The network B includes a bus 4, a plurality of ECUs 5 (corresponding to in-vehicle control devices), GW 3, and GW 6, and ECU 5, GW 3, and GW 6 as nodes are connected to the bus 4.

The network C includes a bus 7 and a plurality of ECUs 8 and GW 6, and ECU 8 and GW 6 as nodes are connected to the bus 7.
The GWs 3 and 6 include a CPU, a ROM, a RAM, and a LAN controller (not shown). The CPU executes various processes in accordance with programs stored in the ROM. The LAN controller relays data according to a data format defined in each communication protocol of each of the networks A to C.

The GW 3 relays data in a state where the communication protocol of the network A and the communication protocol of the network B are matched. The GW 6 relays data in a state where the communication protocol of the network B and the communication protocol of the network C are matched.
The communication protocols of the networks A to C may be the same or different from each other. In this preferred embodiment, the network A, a communication protocol B is CAN (controller area network) communication protocol, a communication protocol for network C is LIN (Local Interconnect Network) communication protocol. Since the network targeted by the present invention is the CAN communication protocol, the networks A and B are targeted.

  The GW 3 has, for example, a first-in first-out (FIFO) transmission frame queue corresponding to the networks A to C. The transmission queue for diag frame is composed of a buffer for temporarily storing transmission data. When the bus is available (bus idle state), the transmission data is transmitted in order from the oldest data. In this case, since the communication load on the network A does not increase, the diagnostic tool connection bus diagnostic frame transmission queue 11 is composed of one buffer as shown in FIG. On the other hand, as shown in FIG. 2B, the ECU connection bus diagnostic frame transmission queue 12 corresponding to the network B is composed of a plurality of buffers in anticipation of an increase in the communication load of the network B. . The transmission operation of the transmission queue is continuously performed in the bus idle state by hardware having a multi-master protocol and a CSMA / CD (Carrier Sense Multiple Access / Collision Detection) function. Note that the ECU connection bus diagnostic frame transmission queue 12 shown in FIG. 2B is schematically shown and is different from the actual number of buffers. Further, the diagnostic tool connection bus diagnostic frame transmission queue 11 may be composed of a plurality of buffers.

  The ECUs 5 and 8 include a CPU, ROM, RAM, and LAN controller (not shown). The CPU executes various processes in accordance with programs stored in the ROM. The LAN controller transmits and receives data according to the data format defined in each communication protocol of each of the networks A to C.

  A CAN controller is mounted as a LAN controller in the GW 3 and the ECU 5 which are nodes of the networks A and B of the CAN communication protocol. The GW 6 serving as a node of the CAN communication protocol network B and the LIN communication protocol network C is equipped with a CAN controller and a LIN transceiver as LAN controllers, and the ECU 8 serving as a network C node is equipped with a LIN transceiver as a LAN controller. Yes.

  A diagnostic tool connector 9 is connected to the end of the network A, and a diagnostic tool 10 (corresponding to an external device) can be connected to the diagnostic tool connector 9. The diagnostic tool 10 is equipped with a CAN controller as a LAN controller. When the diagnostic tool 10 is connected to the diagnostic tool connector 9, the diagnostic tool 10 constitutes a node of the network A. The diagnostic tool 10 is for collecting various types of information for failure diagnosis and the like from the ECUs 5 and 8.

The diagnostic interface of the CAN communication protocol is based on ISO15765 (standard for frame) and ISO14229 (standard for message).
According to ISO 15765, communication is performed between the diagnostic tool 10 on the data transmission side and the ECU 5 on the data reception side as shown in FIG.

(1) The diagnostic tool 10 transmits a transmission start (First Frame (hereinafter referred to as FF)).
(2) The ECU 5 transmits its own reception performance (Flow Control (hereinafter referred to as FC)). That is, the transmission side is notified to the data transmission side how much time it can receive the transmission data sent from the data transmission side thereafter.
(3) The diagnostic tool 10 transmits the remaining data according to the received reception performance (Consective Frame (hereinafter referred to as CF)).

As described in (2) above, ISO 15765 stipulates that the data reception side transmits its reception performance to the data transmission side by FC.
As shown in FIG. 4, FC is composed of three parameters, FS, BS, and STmin. Since the present invention relates to STmin among these parameters, STmin will be described.

  STmin defines the interval between CFs transmitted by the data transmission side, and defines that the data reception side can receive data if the CF-CF is more than specified. For example, when STmin is 100, for example, it indicates that the data receiving side can receive data if there is a gap of 100 ms or more between CFs. However, the longer the frame transmission interval is, the longer the communication time becomes, and the influence becomes remarkable particularly when a large amount of data is communicated. Therefore, it is common to set STmin = 0 (= 0 ms). It is.

Next, the flow of signals between the diagnostic tool 10, the GW 3, and the ECU 5 will be described with reference to FIG. In the ECU 5, it is assumed that 0 is set as the STmin of FC.
First, when FF is transmitted from the diagnostic tool 10 to the ECU 5 via the GW 3, FC (STmin = 0) is transmitted from the ECU 5 to the diagnostic tool 10 via the GW 3.

  When receiving the FC, the diagnostic tool 10 sequentially transmits CF # 1, # 2, # 3... #N. In this case, since STmin = 0, the diagnostic tool 10 continuously transmits CF in the bus idle state. When the transmission of CF # n is completed, the data transmission for one block is completed.

As described above, data transmission from the diagnostic tool 10 to the ECU 5 is repeated, whereby transmission of data for one segment is completed.
By the way, for example, when a reprogram is executed in which the diagnostic tool 10 rewrites the program of the ECU 5, a situation occurs in which the ECU 5 receives a large amount of transmission data in a short time. In such a case, when the network B is heavily loaded, the diagnostic frame is operated with a lower priority than the control frame, and therefore, the diagnostic frame is not received (frame loss) as shown in FIG. However, transmission data cannot be received and a communication delay occurs. Such a communication delay occurs even when the load on the network B temporarily becomes extremely high during transmission of a normal diagnostic frame from the diagnostic tool 10 to the ECU 5.

Therefore, in this preferred embodiment, GW 3, for example, when relaying the CF with respect to the diagnostic tool 10 from the ECU 5, when the communication load on the network B is high, STmin the communication performance of the FC received is reduced from ECU 5 Thus, the information is rewritten and transmitted to the diagnostic tool 10.

  That is, when receiving the FC from the ECU 5, the GW 3 determines whether the received FS is 0 as shown in FIG. 7 (S101). If the ECU 5 can receive normally, since FS is 0 (S101: 0), it is determined whether the received BS is other than 1 (S102). When the BS is 1 (S102: 1), it is handshake communication that can receive one block (data). In the handshake communication, the problem due to the communication load fluctuation of the network B described above does not occur, so the ECU connection bus diagnostic frame transmission queue (hereinafter, transmission queue) 12 is confirmed (S103). If there is no untransmitted data in the transmission queue 12 (S104: no data), the FC is transmitted (S105). That is, when the ECU 5 can receive the CF from the diagnostic tool 10 without delay, the GW 3 only relays the FC.

  On the other hand, when the bus is heavily loaded, since there is CF in the transmission queue 12 (S104: data present), 10 (= 10 ms) is added to the STmin of FC received from the ECU 5. And it transmits to the diagnostic tool 10 (S106). That is, the FC is transmitted by rewriting STmin so as to reduce the reception performance.

  When the diagnostic tool 10 receives FC from the GW 3, since STmin = 10, the diagnostic tool 10 changes the transmission interval of the CF to 10 ms and transmits it. As a result, as shown in FIG. 6, the transmission interval of the CF from the diagnostic tool 10 is 10 ms. Therefore, even when the communication load of the network B becomes high, the ECU 5 reliably receives the CF from the diagnostic tool 10. Can be received.

  When the stagnation of the transmission data in the transmission queue 12 is resolved in this way, the GW 3 loses the untransmitted data in the transmission queue 12 (S104: no data), so the FC received from the ECU 5 is directly sent to the diagnostic tool 10. It is transmitted (S105). Then, the diagnostic tool 10 transmits CF continuously with STmin = 0, that is, continuously. In this case, since the transmission data from the diagnostic tool 10 is stored in the transmission queue 12 of the GW 3 in an empty state, the data stored in the transmission queue 12 is immediately transmitted to the ECU 5.

According to such a reference form, the following effects can be obtained.
When the GW 3 receives the FC from the ECU 5 and there is transmission data in the transmission queue 12, the GW 3 rewrites the FC STmin so as to reduce the communication performance and transmits it to the diagnostic tool 10. As a result, the ECU 5 can reliably receive the CF from the diagnostic tool 10.
Since the communication load of the network B is determined based on the presence / absence of data in the transmission queue 12, the communication load of the network B can be easily determined without using any special means.

( One embodiment)
Referring to FIG. 8 will be described an embodiment of the present invention. This embodiment is characterized in changing the STmin stepwise in accordance with the free space in the transmission queue 12. In the flowchart shown in FIG. 8, the same steps as those in the flowchart shown in FIG.

  As shown in FIG. 8, when there is untransmitted data in the transmission queue 12 (S104: data present), the GW 3 sets a value corresponding to the free capacity to STmin stepwise (S201). Specifically, when the transmission queue 12 is not available, STmin is set to 127 (maximum) (= 127 ms) because the communication load of the network B becomes extremely high. When there are 1 to 2 vacant spaces, STmin is set to 20 (= 20 ms) because the communication load on the network B has increased. When there are three or more vacant spaces, STmin is set to 10 (= 10 ms) on the assumption that the communication load of the network B is relatively high. That is, the FC is transmitted by rewriting STmin so as to reduce the reception performance.

  When receiving the FC from the GW 3, the diagnostic tool 10 transmits the CF at the transmission interval indicated by the FC STmin. Thereby, ECU5 can receive CF from the diagnostic tool 10 reliably, even when the communication load of the network B becomes high.

(Other embodiments)
The present invention is not limited to the above reference embodiment and one embodiment, but is modified or expanded as follows, each modification is combined with the above reference embodiment and embodiment, or each modification is combined. May be.
In the reference form, as a condition for determining that there is transmission data in the transmission queue 12, the transmission data may be a predetermined number.
When there is no data in the transmission queue 12, 10 is added to STmin. However, the value to be added may be changed according to the number of empty spaces.

If the state in which data stays in the transmission queue 12 due to the high communication load of the network B is not resolved despite the change of the CF transmission interval of the diagnostic tool 10, 10 is further added to STmin. 20 may be added, or 10 may be added in order. That is, STmin may be dynamically changed based on the presence / absence of untransmitted data.
In one embodiment, the change value of STmin is an example, and can be arbitrarily changed as long as it is a settable numerical value.
Although STmin is set in three stages according to the number of empty spaces, it may be set in four or more stages.

The change value of STmin is an example, and may be an arbitrary change value as long as it is a settable numerical value.
You may comprise so that ECU5 may have the function of GW3.
The configuration of the network system is an example, and any configuration may be adopted as long as the diagnostic tool and the ECU can communicate with each other using the CAN communication protocol.
The rewriting tool may be connected to a network as an external device.

  In the drawing, 3 is a gateway (on-vehicle relay device, communication load determining means), 5 is an ECU (on-vehicle control device), and 10 is a diagnostic tool (external device).

Claims (2)

An in-vehicle control device (5) constituting a node of the network;
An in-vehicle relay device (3) provided as a node for connecting the networks to each other, and transmitting a signal received from one network to the other network in a state in which a communication protocol is matched;
An external device (10) provided as a node by being connected to the network and communicating with the in-vehicle relay device;
When the first frame defined by ISO (International Organization for Standardization) 15765 of CAN (controller area network) communication protocol is received, the in-vehicle control device performs flow control indicating reception performance set for itself. After transmitting to the external device, receive the consequential frame from the external device,
When the external device receives the flow control after transmitting the first frame in a state of being connected to the network, the external device sequentially transmits the consecutive frames at a transmission interval corresponding to the reception performance indicated by the flow control. In the in-vehicle network system to transmit,
The in-vehicle relay device includes a communication load determining means (3) for determining a communication load of the network on the in-vehicle control device side, a first-in first-out transmission queue for temporarily storing transmission data from the external device, And when the communication load determination means determines that the communication load of the network is high when the flow control is received from the in-vehicle control device, the external load is rewritten to reduce the reception performance indicated by the flow control. To the device ,
The in-vehicle network system characterized in that the communication load determination means determines the communication load of the network in a stepwise manner based on the free capacity of the transmission queue . An in-vehicle relay device used in the in-vehicle network system according to claim 1 .

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