JP6508092B2 - Vehicle gateway device and program - Google Patents

Description

  The present invention relates to a vehicle gateway device and program.

  In the vehicle, a number of electronic control devices cooperate to control various elements in the vehicle. In recent years, the contents of vehicle control have become complicated, and the number of communication nodes and the amount of communication data have been increasing in the vehicle, so that each communication node performs communication processing using a plurality of communication lines (for example, patent) Reference 1). According to the technology described in Patent Document 1, a vehicle gateway device for connecting between the plurality of communication lines is provided.

Unexamined-Japanese-Patent No. 2007-312193

  The inventor is considering that it can be used for speeding up development or early investigation of cause at the time of failure occurrence by enabling communication status in a communication line to be monitored at a vehicle development stage or at failure occurrence. However, some of the communication lines may be built into the vehicle, making it difficult to directly access the communication lines, and the vehicle must be disassembled.

  It is desirable to be able to monitor at a place easily accessible from the outside of the vehicle, in consideration of the disassembling process of the vehicle and the man-hours for returning the current condition after disassembly. In such a case, the vehicle gateway device mirrors the message on the communication line connected to the On-board diagnostics (OBD) connector or the communication line to which the wireless communication module is connected, and the monitor tool acquires the OBD connector. There is a conceivable method of acquiring a message through a wireless communication module. However, it has been found that the communication order may be monitored incorrectly.

  An object of the present disclosure is to provide a vehicle gateway apparatus capable of monitoring the correct communication order of messages communicated to a monitor communication line that can not be directly monitored, and a program thereof.

  According to the first aspect of the present invention, the transmission buffer and the control unit are provided to solve the above-mentioned problems. The buffer is a first-in first-out buffer for transmission from outside of the plurality of communication lines to a monitorable communication line that can be monitored.

  The control unit relays and controls the message between the plurality of communication lines according to the relationship between the communication source line, the communication destination line, and the identifier of the message previously stored in the relay table. The control unit also manages which communication line of the plurality of communication lines is to be monitored by the management function. At this time, when the communication line to be monitored by the management function is selected as the communication line to be monitored, the control unit receives the first message from another communication line and relays the first message to the communication line to be monitored. The first message is stored in the buffer when it is sent to the monitored communication line and transmission is completed. When the control unit receives the second message from the monitoring target communication line, the control unit stores the second message in the buffer when the second message is received.

  At this time, when the second gateway is received from the monitoring target communication line before relay control of the first message to the monitoring target communication line after the first gateway is received, the first message is monitored. The second message is stored in the buffer before the first message is stored in the buffer in order to store the first message in the buffer when it is transmitted to the target communication line and transmission is completed.

  Therefore, when the control unit relay-controls the first message to the monitoring target communication line thereafter, the first message is stored in the buffer, whereby the second message and the first message are sequentially performed by the buffer first-in first-out process. It will be monitored that it was processed. Thus, the communication order of messages in the monitored communication line can be accurately monitored.

Block diagram schematically showing the configuration of a vehicle system in the first embodiment A diagram of the messages that make up part of the frame An explanatory view functionally showing an internal configuration of the vehicle gateway device An illustration of the content held in the relay table Flow chart showing processing procedure An explanatory view of an example of message communication processing (part 1) An explanatory view of an example of a message communication process (part 2) Illustration of message communication processing example (part 3) Illustration of message communication processing example (part 4) Illustration of message communication processing example (part 5) Flow chart showing processing procedure in the second embodiment

Hereinafter, some embodiments of a vehicle gateway device constituting a vehicle system will be described with reference to the drawings.
First Embodiment
1 to 10 show an explanatory diagram of the first embodiment. FIG. 1 schematically shows the configuration of a vehicle system. As shown in FIG. 1, a large number of electronic control units (hereinafter referred to as ECUs (ECU: Electronic Control Unit)) 2, 3, 4 and 5 are disposed in the vehicle, and these many ECUs 2 to 5 are arranged. , And a plurality of communication lines A and B are used for network connection. These many ECUs 2 to 5 perform various controls in the vehicle by operating in cooperation with other ECUs. Although the ECU is not connected to the communication line C in FIG. 1, this is not described for convenience of explanation, and the ECU may be connected to the communication line C. The plurality of communication lines A to C are buses for on-vehicle LAN such as CAN and LIN, for example, and the plurality of ECUs 2 to 5 can transmit and receive messages for transmission and reception as frames based on a predetermined protocol. .

  FIG. 2 shows an example of the content of the message M of a part of the frame. The message M indicates, for example, a part of a data frame, and includes an identifier field ID for identifying the type of the data frame, and a data field DATA for storing data. For example, in the CAN data frame, the data content and the transmitting node can be identified based on the identifier set in the identifier field of the message M. Although each value is set in the area other than the identifier field and the data field, the data frame is not related to the present invention, so the description is omitted. The following description will be made assuming that the message M of the data frame is to be communicated, but the features of the present application are not limited to the data frame, and can be applied to any frame.

  As shown in FIG. 1, among the communication lines A to C, an OBD (On Board Diagnostics) connector 6 or / and a wireless communication module (Wireless Communication Module: so-called data communication module (DCM: Data communication module) Communication Module) 7 is connected.

  The OBD connector 6 is a connector to which a monitor tool 8 can be connected from the outside when, for example, a vehicle designer, a dealer or a worker of a repair shop needs it. That is, the OBD connector 6 can connect the monitor tool 8 at the time of vehicle development or vehicle failure, for example. The monitor tool 8 can monitor the selected communication line among the communication lines A to C by being operated by the vehicle designer or the worker. Further, the wireless communication module 7 connected to the communication line C can wirelessly communicate with the external monitor tool 9. As with the monitor tool 8, the external monitor tool 9 can be operated by a vehicle designer or a worker to enable monitoring of the selected communication line among the communication lines A to C.

  Between the communication lines A to C, a gateway apparatus (GateWay; hereinafter abbreviated as gateway apparatus) 10 is provided. The gateway device 10 includes a controller 11 and buffers 12 to 14. The control unit 11 executes a program stored in a memory as a built-in non-transitional tangible recording medium. The control unit 11 can process each procedure corresponding to the program by executing the program. The gateway device 10 monitors, as a control operation mode by the control unit 11, a normal operation mode in which normal relay control processing is performed and a monitor mode in which the communication status of the message M of a predetermined communication line among the communication lines A to C is monitored. And.

  The gateway device 10 relays the communication process of the message M across the two selected communication lines (for example, A and B, B and C, C and A) of the plurality of communication lines A to C in the normal operation mode. Do. Also, in the monitor mode, the gateway device 10 performs processing in the normal operation mode, acquires the communication status of the communication line (for example, B) instructed to be monitored by the monitor tool 8 or 9, and acquires the acquired communication status. It is possible to respond to the requested monitor tool 8 or 9.

  FIG. 3 also shows the internal configuration of the gateway device 10 functionally. The control unit 11 includes a relay table (Routing Table) 15, and includes an operation assignment control function (Dispatch) 16 and a management function (Monitor Mode Manage) 17. FIG. 4 schematically shows the contents held in the relay table 15. In the relay table 15, relationships between identifiers (IDs) of the messages M1 to M4 ... and communication source lines and communication destination lines are stored in advance.

  The control unit 11 shown in FIG. 3 performs operation assignment control according to the control processing content and application by the operation assignment control function 16. The control unit 11 also manages which communication line of the plurality of communication lines A to C is monitored by the management function 17. The buffers 12 to 14 are provided corresponding to the respective communication lines A to C, and each has a transmission buffer and a reception buffer (without a code). These buffers 12 to 14 are first-in first-out (FIFO) queues It is considered to be a structure.

  Hereinafter, operations in the normal operation mode and the monitor mode will be described with reference to the flowchart shown in FIG. As shown in FIG. 5, when receiving the message M from any one of the communication lines A to C in step T1, the control unit 11 of the gateway device 10 performs the process of step T2 and subsequent steps. When receiving the message M in step T1, the control unit 11 determines whether the monitor mode is turned on in step T2.

  When the monitor mode is off, the control unit 11 determines NO in step T2, and performs relay control processing in the normal operation mode in step T5. When the control unit 11 performs normal relay control processing in the normal operation mode, the control unit 11 reads an identifier from the message M, and collates the identifier with the message M held in the relay table 15 to specify a communication destination line. Store the message M in a buffer (one of 12 to 14) corresponding to the communication destination line, and transmit it from the buffer (one of 12 to 14) to the communication destination line (one of A to C) . As a result, the message M can be transmitted to the ECU of the transmission destination node connected to the communication destination line.

  For example, an identifier of 100 is given to the message M1 shown in FIG. 4, and the communication source line is predetermined as the communication line A, and the communication destination line is predetermined as the communication line B. Therefore, when the control unit 11 reads the identifier of the message M1 as "100", the message M1 is stored in the buffer 13 corresponding to the communication destination line B according to the identifier "100", and then the control unit 11 communicates The message M1 can be transmitted to the ECU of the transmission destination node connected to the communication line B by outputting to the communication line B to be the first line. The same applies to the other messages M2 to M4, but as indicated by the message M3 of the identifier "210", if there are a plurality of communication lines B and C as communication destination lines, the message M4 of the identifier "300" As shown in FIG. 5, there is no communication destination line, and the message M4 may disappear inside the gateway device 10 without being relayed.

  On the other hand, when the designer or worker wants to monitor the communication line, the external monitor tool 8 or 9 is operated. As a result, one of the communication lines A to C is instructed to monitor. Here, it is assumed that the communication line B is instructed as a monitoring target communication line. Then, the control unit 11 reads the instructed content and sets the monitor mode to ON.

  Thereafter, when control unit 11 receives message M from any of communication lines A to C in step T1 and confirms that the monitor mode is turned on in step T2, YES in step T2. It is determined that At this time, the control unit 11 performs the process of the monitor mode shown in step T3 and subsequent steps. The control unit 11 determines the monitor communication line requested by the monitor tool 8 or 9 in step T3. Since the monitoring target communication line is instructed to the communication line B, the communication line B is set to the monitoring target communication line in step T4.

  Then, when the message M received in step T1 is the message M received from the communication line B which is the monitoring target communication line, the control unit 11 determines YES in step T6, and when the message is received, the monitorable communication is possible. The message M is stored in the buffer 14 for the communication line C which is a line. That is, when the received message M is received from the communication line B, the control unit 11 forcibly stores the received message M in the buffer 14 of the communication line C regardless of whether the received message M is a relay target message.

  Therefore, for example, when the message M2 is transmitted to the communication destination line C as in the message M2 of FIG. 4, the message M2 is naturally stored in the buffer 14 of the communication destination line C, and the other messages M4 are, for example, the message M4 of FIG. As shown in FIG. 6, even when the communication destination line does not exist and the message M4 disappears and is not relayed by the gateway device 10, when the message M4 is received from the communication line B, the buffer 14 of the communication destination line C It is forcibly stored. Then, the control unit 11 transmits the message M stored in the buffer 14 to the communication line C. Thereby, the monitor tool 8 or 9 can monitor the message M with reference to the identifier of the message M.

  When the controller 11 determines that the message M received in step T1 is a message for relay control to the communication line B, it determines NO in step T6 and YES in step T9, and proceeds to communication line B in step T10. The message M is stored in the buffer 13 of Then, the control unit 11 waits until the transmission of the message M to the communication line B is completed in step T11, and shifts to the process of step T7 on the condition that the transmission is completed, and transmits the message M to the buffer 14 to the communication line C. Store. Then, the control unit 11 transmits the message M stored in the buffer 14 to the communication line C. Thereby, the monitor tool 8 or 9 can monitor with reference to the identifier of the message M. In addition, even if the monitor target communication line requested by the monitor tool 8 or 9 is the communication line A, the same process is performed with the communication line A as the monitor target communication line. The illustration of the corresponding process of T6 to T11 and the description thereof are omitted.

  A specific example of communication processing of the message M in the flow shown in FIG. 5 will be described with reference to FIGS. 6 to 10. In the same manner as the flow shown in FIG. 5, the communication line B is set as the monitoring target communication line, and the communication line C is described as the monitor-enabled communication line.

  As shown in FIG. 6, when the gateway device 10 relays and controls the first message M1 received from the communication line A to the communication line B, the gateway device 10 receives the second message M2 from the communication line B and relays it to the communication line C. Consider the case. When the gateway device 10 receives the first message M1 from the communication line A and relays it to the communication line B, the control unit 11 determines NO in step T6 of FIG. 5 and YES in step T9.

  Therefore, as shown in FIG. 7, the first message M1 received from the communication line A in STEP 1 is stored in the transmission buffer 13 of the communication line B, and transmitted from the buffer 13 to the communication line B in STEP 2. After that, the first message M1 is stored in the buffer 14 for transmission of the communication line C from the buffer 13 of the communication line B in STEP3. Then, the control unit 11 transmits the first message M1 to the communication line C. At this time, the control unit 11 stores the message M1 in the buffer 14 of the communication line C at the same time as STEP 1 which is the timing of receiving the first message M1 from the communication line A and storing the first message M1 in the buffer 13 of the communication line B. No (see x in FIG. 7).

  Further, when the control unit 11 of the gateway apparatus 10 receives the second message M2 from the communication line B and relays the second message M2 to the communication line C, the control unit 11 determines YES in step T6 of FIG. Therefore, as shown in FIG. 8, the second message M2 received from the communication line B in STEP 1 is stored in the buffer 14 of the communication line C. Then, the control unit 11 transmits the message M2 to the communication line C.

  FIG. 9 shows the flow of messages M1 and M2 when the gateway device 10 receives the message M1 from the communication line A and relays it to the communication line B, and then receives the message M2 from the communication line B and relays it to the communication line C. It shows.

  In such a case, when receiving the first message M1 from the communication line A, the control unit 11 stores the first message M1 in the buffer 13 in STEP 1 of FIG. 9, and the buffer 13 in STEP 2 of FIG. , And transmits the first message M1 to the communication line B. Then, after completing the transmission of the first message M1 from the buffer 13, the control unit 11 stores the first message M1 in the buffer 14 in STEP 3 of FIG. Then, the control unit 11 transmits the first message M1 to the communication line C. Thereafter, when the second message M2 is received from the communication line B, the control unit 11 stores the second message M2 in the buffer 14 of the communication line C in STEP4 of FIG. Then, the control unit 11 transmits the second message M2 to the communication line C. At this time, the storage order of the messages M1 and M2 in the buffer 14 is in the order of M1 → M2, and the messages M1 and M2 are put in first out and the messages M1 and M2 are transmitted to the communication line C, thereby the monitoring tool 8 Or 9 can monitor the messages M1 and M2 in this order.

  Since the actual transmission and reception order of the messages M1 and M2 in the communication line B is the order of transmission of the message M1 and reception of the message M2, the message M1 in the transmission and reception order of the actual messages M1 and M2 in the communication line B, M2 can be transmitted to the communication line C, whereby the monitor tool 8 or 9 can monitor the communication status in the order in which the gateway device 10 actually transmitted and received the messages M1 and M2 using the communication line B.

  In FIG. 10, after the gateway device 10 receives the first message M1 from the communication line A and before relaying to the communication line B, the gateway device 10 receives the second message M2 from the communication line B, and then the first message M1 A flow of messages M1 and M2 when relaying to the communication line B is shown.

  In such a case, when the first message M1 is received from the communication line A, the control unit 11 stores the first message M1 in the buffer 13 of the communication line B in STEP1 of FIG. Thereafter, when the second message M2 is received from the communication line B, the control unit 11 forcibly stores the second message M2 in the buffer 14 of the communication line C in STEP2 of FIG. Thereafter, the control unit 11 transmits the first message M1 to the communication line B in STEP3 of FIG. 10 and completes transmission, and then stores the message M1 in the buffer 14 of the communication line C in STEP4 of FIG.

  At this time, the storage order of the messages M1 and M2 in the buffer 14 is in the order of M2 → M1, and the messages M2 and M1 are sent out first in first and the messages M2 and M1 are sent to the communication line C, the monitoring tool 8 Or 9 can monitor the messages M2, M1 in this order.

  The order in which the gateway 10 actually transmits and receives the messages M1 and M2 in the communication line B is the order of reception of the message M2 and transmission of the message M1, and therefore the transmission and reception order of the actual messages M2 and M1 in the communication line B The message M2, M1 can be transmitted to the communication line C, whereby the monitor tool 8 or 9 can monitor the communication status in the order in which the gateway device 10 actually transmitted and received the messages M2, M1 using the communication line B. .

  As described above, according to the present embodiment, when the control unit 11 of the gateway device 10 relays and controls the message M1 to the communication line B, the message M1 is transmitted to the communication line B, and the transmission is completed. Are stored in the buffer 14 of the communication line C, and when the message M2 is received from the communication line B, the message M2 is stored in the buffer 14 of the communication line C.

  Thereby, when the control unit 11 of the gateway device 10 transmits the message M to the communication line C on a first-in first-out basis, and the monitor tool 8 or 9 acquires these messages M, the monitor tool 8 or 9 selects the communication line B. The message M can be acquired from the communication line C in the transmission and reception order of the message M. Thereby, the monitor tool 8 or 9 can monitor the communication status in the order in which the gateway device 10 actually transmitted and received the message M using the communication line B. Further, even if direct connection from the monitor tool 8 or 9 to the communication line B is impossible, the communication status of the communication line B to be monitored can be remotely monitored without disassembling the vehicle. In addition, it is not necessary to update the software stored inside the gateway device 10 each time.

  When the control unit 11 receives the message M4 from the communication line B, the message M4 is forcibly stored in the buffer 14 of the communication line C even if the message M4 is not a relay target message. Therefore, the monitor tool 8 or 9 can monitor the received message M4 of the communication line B to be monitored.

  The control unit 11 determines which of the communication lines A to C is requested to be monitored from the monitor tool 8 or 9 by the management function 17, and the control unit 11 monitors the communication line B requested to be monitored. Communication line Therefore, the communication line B requested from the outside can be set as the monitoring target communication line.

Second Embodiment
FIG. 11 shows an additional explanatory view of the second embodiment. FIG. 11 shows the processing procedure by the control unit 11 in place of FIG. 5, and in the steps for performing the same processing, the same step numbers are given and the explanation thereof is omitted, and different parts are given the suffix "a". ing.

  For example, the gateway device 10 may have an abnormality detection function of detecting an abnormality that occurs when communicating through the communication lines A to C. For example, as disclosed in Patent Document 1, this abnormality detection function monitors the soundness level of the sender by periodically monitoring identification information, and when the monitored soundness level is worse than a predetermined level. It is conceivable to detect an abnormality in Since such an abnormality detection trigger is variously proposed conventionally, the detailed description is abbreviate | omitted.

  At this time, as shown in step T2a in FIG. 11, it is preferable to determine whether or not the control unit 11 detects an abnormality, and to determine the communication line in which the abnormality is detected in step T3a in FIG. Then, in step T4a of FIG. 11, the control unit 11 may set the communication line B in which the abnormality is detected as a monitoring target communication line by the management function 17.

  In this case, the control unit 11 voluntarily detects an abnormality of the communication line (for example, B) regardless of whether the monitor mode is turned on, and the abnormality is detected when this abnormality is detected. The message M is stored in the buffer 14 of the monitorable communication line C and transmitted to the communication line C, using the communication line (for example, B) as the monitoring target communication line. Thus, the communication status regarding the communication line B in which the external monitor tool 8 or 9 has detected an abnormality can be grasped. In addition, the same operation and effect as those of the first embodiment can be obtained.

(Other embodiments)
The present invention is not limited to the embodiments described above, and can be implemented with various modifications. The present invention can be applied to various embodiments without departing from the scope of the invention. For example, the following modifications or expansions are possible.

  Some or all of the functions executed by the control unit 11 may be configured in hardware by one or a plurality of ICs. You may comprise combining several embodiment mentioned above. The reference numerals in the parentheses described in the claims indicate an example of the correspondence with the specific means described in the embodiment described above as one aspect of the present invention, and the technical aspect of the present invention It is not intended to limit the scope.

  In the drawing, A, B and C indicate communication lines (B indicates a monitor target communication line and C indicates a monitorable communication line), 11 indicates a control unit, 14 indicates a buffer, 15 indicates a relay table, 19 indicates a management function, M, M1 to M M4 ... shows a message (M1 is a 1st message, M2 is a 2nd message).

Claims (4)

A first-in first-out type buffer provided for at least one of a plurality of communication lines (A to C) for transmission to an externally monitorable monitorable communication line (C), and the monitored messages (M, M1 to M4. A buffer (14) for storing
A control unit (11) relaying and controlling the message between the plurality of communication lines according to the relationship between the communication source line, the communication destination line, and the identifier of the message previously stored in the relay table (15); Equipped
The control unit
A management function (17) for managing which one of the plurality of communication lines is to be monitored is provided, and when the communication line to be monitored by the management function is set as a monitoring target communication line (B),
When a first message (M1) is received from another communication line (A) different from the communication line to be monitored (B) and relay control is performed to the communication line to be monitored (B), the first message is monitored When the transmission is completed to the target communication line (B), the first message (M1) is stored in the buffer,
The gateway apparatus for vehicles which stores said 2nd message (M2) in said buffer, when the said 2nd message (M2) is received from said monitor object communication line (B). In the vehicle gateway device according to claim 1,
The control unit determines which communication line is requested to be monitored from an external monitor tool (8, 9) by the management function, and uses the communication line requested to be monitored as the communication line to be monitored. apparatus. In the vehicle gateway device according to claim 1,
The control unit has an abnormality detection function of detecting an abnormality occurring in the communication line, and sets the communication line in which the abnormality is detected when the abnormality is detected by the abnormality detection function as the monitoring target communication line. Vehicle gateway device. A first-in first-out type buffer provided for at least one of a plurality of communication lines and transmitted to an externally monitorable monitorable communication line (C), which stores the monitored messages (M, M1 to M4...) (14), and a control unit (11) for relaying and controlling the message between the plurality of communication lines according to the relationship between the communication source line, the communication destination line, and the identifier of the message previously stored in the relay table The control unit is a vehicle gateway apparatus provided with a management function (17) for managing which communication line of the plurality of communication lines is monitored, and the communication line to be monitored by the management function A program to be executed by the vehicle gateway device when the monitor communication line (B) is selected.
In the control unit,
When a first message (M1) is received from another communication line (A) different from the communication line to be monitored (B) and relay control is performed to the communication line to be monitored (B), the first message is monitored A procedure for storing the first message (M1) in the buffer when it is sent to the target communication line (B) and transmission is completed;
A procedure for storing the second message (M2) in the buffer when the second message (M2) is received from the monitor communication line (B);
A program that runs

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