KR20190118743A - Control unit for vehicle and method for diagnosis and restoration of message receiving state - Google Patents

Abstract

The present invention relates to a controller for a vehicle and a method for diagnosing and restoring a message reception state. According to an embodiment of the present invention, the controller for a vehicle, which diagnoses and restores a reception state of a message through a communications bus in a vehicle network, comprises: a reception checking unit for checking whether a message is received at each reception period of the message; a reception delay determination unit for determining a temporary reception delay or a reception delay by comparing a reception delay time of the message with a predetermined reference delay time; a temporary reception delay timer, a reception delay timer, and a normal reception timer for accumulating time from a corresponding time point according to each case of the temporary reception delay, the reception delay, and a normal reception of the message; and a failure determination unit for determining a temporary failure by comparing an accumulated time of the reception delay timer with a temporary failure determination reference, and determining a complete failure by comparing the number of temporary failures with a complete failure determination reference.

Description

CONTROL UNIT FOR VEHICLE AND METHOD FOR DIAGNOSIS AND RESTORATION OF MESSAGE RECEIVING STATE}

The present invention relates to a vehicle controller and a method for diagnosing and restoring a message reception state.

The four-wheel drive (4WD) device refers to a device consisting of a mechanism for transmitting power from a driving wheel to a non-drive wheel and a controller for controlling the same to drive a vehicle driven by two wheels by four wheels.

For example, a typical passenger vehicle is a driving wheel for driving a vehicle by receiving power from an engine, and a rear wheel is a non-drive wheel, and passively moves as the vehicle moves without any power. When the four-wheel drive device is mounted on the vehicle, part of the engine power supplied to the front wheels is distributed to the rear wheels as shown in FIG.

In order to control such a four-wheel drive device, a controller for controlling a four-wheel drive device is used. In order to control the vehicle more accurately, the controller transmits and receives information about the vehicle status from other controllers through CAN communication through the vehicle controller area network (CAN) network.

At this time, the information of other controller is received in message unit through CAN communication and each message has a communication cycle. In addition, if a message is not received at a predetermined cycle, a time-out failure is determined through additional conditions.

However, after the failure determination due to the delay of receiving the CAN message, if the intermittent reception delay occurs even though the controller is in a normal operating communication state, the controller determines that it is a complete failure and it is impossible to return to the normal state. Due to the complete failure of the controller, the operation of the four-wheel drive system is also stopped.

Korean Registered Patent Publication No. 10-0569147

The present invention diagnoses and restores a vehicle controller and a message reception state for preventing a situation in which the controller becomes impossible to return normally due to an intermittent reception delay even though the controller is in a normal operating state after a failure is confirmed due to a delay in receiving a CAN message. To provide a way.

According to an embodiment of the present invention, a vehicle controller for diagnosing and restoring a reception state of a message through a communication bus in a vehicle network, comprising: a reception check unit for checking whether a message is received at each reception cycle of the message, and reception of the message Receiving delay determining unit for determining the temporary receiving delay or the receiving delay by comparing the delay time with the preset reference delay time, the temporary receiving delay of the message, the receiving delay, and the normal receiving. A temporary failure is determined by comparing the accumulated time of the reception delay timer, the reception delay timer, the normal reception timer, and the reception delay timer with a temporary failure determination criterion, and a complete failure is determined by comparing the frequency of occurrence of the temporary failure with the complete failure criterion. It provides a vehicle controller, comprising a failure determination unit for determining.

The apparatus may further include a normal determination unit determining the normal state of the message by comparing the accumulated time of the normal reception timer with a normal determination criterion.

The normal determination unit may reset the temporary reception delay timer and the reception delay timer when the message reception is confirmed through the reception check unit, and increase the normal reception timer.

The reception delay determination unit may increase the temporary reception delay timer and the normal reception timer when it is determined that the reception delay is a temporary reception delay.

The reception delay determination unit may reset the normal reception timer and increase the reception delay timer when it is determined that the reception delay has been determined.

According to another embodiment of the invention, (a) confirming the message reception, (b) determining whether the message reception time exceeds the temporary reception delay time, (c) the temporary reception delay timer, normal reception timer and reception Operating each of the delay timers, (d) determining whether the reception delay time corresponds to a temporary failure determination time, (e) determining as a temporary failure, and (f) whether the number of temporary failure occurrences is greater than or equal to the complete failure determination criteria. It provides a method for diagnosing and restoring a message reception state of a vehicle controller, including the step of determining, and (g) determining a complete failure.

In addition, if the reception of the message is confirmed in the step (a), the temporary reception delay timer and the reception delay timer are reset, and the normal reception timer is increased, and whether the steady state determination time is satisfied using the increased normal reception timer. And determining the steady state.

In addition, when the temporary reception delay time is exceeded in step (b), in step (c), the normal reception timer may be reset and the reception delay timer may be increased.

Further, when the temporary reception delay time is not exceeded in step (b), in step (c), the temporary reception delay timer and the normal reception timer may be increased.

In addition, if it is determined as the temporary reception delay in the step (c), the temporary reception delay timer and the normal reception timer are increased, and if the reception delay is determined, the normal reception timer is reset and the reception delay timer is increased. Can be.

The present invention can make the normal return possible by improving the situation in which the controller cannot be normally returned by the intermittent reception delay even though the controller is in the normal operating state after the message reception delay failure is determined.

1 is a diagram illustrating a CAN network configuration of a vehicle.
2 illustrates a general CAN message reception delay and resume state.
3 is a diagram illustrating an exceptional reception resume state after a CAN message reception delay.
4 is a diagram illustrating a configuration of a controller according to an embodiment of the present invention.
5 is a flowchart illustrating a method for diagnosing and restoring a message reception state of a vehicle controller according to an embodiment of the present invention.

Hereinafter, the present invention will be described in more detail based on the preferred embodiments of the present invention. However, the following examples are merely examples to help the understanding of the present invention, whereby the scope of the present invention is not reduced or limited.

1 is a diagram illustrating a CAN network configuration of a vehicle.

Referring to FIG. 1, each of a plurality of controllers (ECUs) 100 in a vehicle may transmit a plurality of messages through the CAN network 200. Each message may have a unique transmission period. For example, a message having a period of about 10 ms may be transmitted from the controller to the other controller 100 through the CAN network 200 of the vehicle every 10 ms. In other words, the CAN message that each controller 100 receives from the other controller 100 may be received at a predetermined period.

In order to determine whether the reception of these messages is delayed, the controller 100 may check whether the corresponding message is received at the same period with reference to FIG. 2. If the message is not received, the controller 100 may accumulate the unreceived time from the corresponding time point. In this case, the controller 100 may generally use a method of allocating a timer and incrementing a counter in order to accumulate time. For example, a counter of about 10 ms timer can count up to 100 to accumulate a time of about 1 second.

When the corresponding message is not received by the predetermined reception delay time as described above, the controller 100 may diagnose that the reception delay for the corresponding message has occurred. If the failure at that time is defined as a temporary failure, it can be defined as a complete failure when the temporary failure occurs repeatedly a predetermined number of times. If the number of complete failure determinations is one, it can be determined as a temporary failure and at the same time a complete failure. When such a failure occurs, the controller 100 may generally be in a degraded control performance or in an uncontrollable state.

In the CAN message reception delay failure determination state, the process of returning to the normal determination state when the CAN message resumes normal reception may be similar to the above reception delay diagnosis process. Checking the delay status of a message may mean the same as checking the normal reception status. When the normal reception of the message is resumed, the controller 100 accumulates the normal reception time from the corresponding time point, and determines that the controller 100 is in a normal state when receiving the predefined normal reception time.

On the other hand, due to communication overload, the reception delay situation of the CAN network as shown in FIG. 3 may occur. 3 illustrates a situation in which normal reception is resumed after the failure is confirmed, but a temporary reception delay is repeatedly generated without meeting the normal determination time. In such a situation, if the temporary reception delay is defined as a level that does not affect the vehicle control, the controller should recognize the situation as normal and control the vehicle.

However, since the conventional controller does not satisfy the normal determination time due to the temporary and repetitive reception delay, the controller cannot maintain the normal determination and keep the failure determination state, so that the vehicle control performance may be degraded or maintained in an impossible state.

On the other hand, the present invention can detect the temporary reception delay state and regard it as a normal reception interval, thereby making it possible to make a normal decision by satisfying the normal determination time.

Hereinafter, the present invention will be described in more detail with reference to FIGS. 4 and 5.

4 is a diagram illustrating a configuration of a controller according to an embodiment of the present invention.

Referring to FIG. 4, a controller according to an embodiment of the present invention includes a reception check unit that checks whether a message is received at each reception period of a message in order to diagnose and restore a reception state of a message through a communication bus in a vehicle network. 110), the reception delay determination unit 120 for determining the temporary reception delay or the reception delay by comparing the reception delay time of the message with a preset reference delay time, the temporary reception delay of the message, the reception delay, normal reception according to each case. Temporary failure is determined by comparing the accumulated time of the temporary reception delay timer 132, the reception delay timer 134, the normal reception timer 136, and the reception delay timer 134 that accumulate time from the point of time with the temporary failure determination criteria. And the accumulated time of the failure determination unit 140 and the normal reception timer 136 which determine the complete failure by comparing the frequency of occurrence of the temporary failure with the complete failure determination criteria. And it may include a top plate section (150) for determining the stationary state of the message and compare the determination reference.

The reception checker 110 may check whether a message transmitted from another controller is received at each reception period of a preset message.

The reception delay determination unit 120 compares the reception delay time of the message confirmed through the reception check of the reception check unit 110 with a preset reference delay time, and classifies it as a temporary reception delay or a reception delay according to the comparison result. can do. For example, the reception delay determination unit 120 may determine the reception delay of the message if the reception delay time of the message exceeds the reference delay time, and the temporary reception delay if the message does not exceed the reference delay time.

Here, the reception delay determination unit 120 may increase the temporary reception delay timer 132 and the normal reception timer 136 when determining that the reception delay is a temporary reception delay. In addition, the reception delay determination unit 120 may reset the normal reception timer 136 and increase the reception delay timer 134 when determining that the reception delay is the reception delay.

The reception delay timer 134 may accumulate a reception delay time when the reception delay determination unit 120 determines that the signal has been received.

The normal reception timer 136 may accumulate the normal reception time when the reception delay determination unit 120 determines that the signal is normally received.

The failure determination unit 140 may determine the temporary failure by comparing the accumulated time of the reception delay timer 134 with a preset temporary failure determination criterion. For example, the failure determination unit 140 determines the temporary failure when the accumulated time of the reception delay timer 134 satisfies the temporary failure determination time, and checks the normal reception of the message if not. Can send a check command.

In addition, the failure determination unit 140 may determine the complete failure by comparing the temporary failure determination frequency with a preset complete failure determination criteria. For example, the failure determination unit 140 determines that the temporary failure determination count is a complete failure when the number of temporary failure determinations is greater than or equal to the complete failure determination count, and when the temporary failure determination count is less than the complete failure determination count, the reception checker ( 110 may be sent a check command.

The normal determination unit 150 may reset the temporary reception delay timer 132 and the reception delay timer 134 when the message reception is confirmed through the reception check unit 110, and increase the normal reception timer 136. .

In addition, the normal determination unit 150 may determine whether the accumulated time of the normal reception timer 136 satisfies the normal determination time to determine the normal state of the message.

As described above, the controller according to an embodiment of the present invention determines whether the temporary reception delay before processing the general reception delay, and if it is determined that the temporary reception delay is determined as the extension of the normal reception state instead of the reception delay, It is possible to return from the fault state to the normal state in the normal controllable situation.

5 is a flowchart illustrating a method for diagnosing and restoring a message reception state of a vehicle controller according to an embodiment of the present invention.

Referring to FIG. 5, in the method for diagnosing and restoring a message reception state of a vehicle controller according to an exemplary embodiment of the present disclosure, when the message reception is confirmed (S100), when the message reception is confirmed, the temporary reception delay timer and the reception delay timer are reset. Increasing the normal reception timer (S110), determining whether the steady state determination time is satisfied using the increased normal reception timer (S120) and determining the normal state (S130), and message reception is not confirmed. If not, determining whether the message reception time exceeds the temporary reception delay time (S210), if the temporary reception delay time does not exceed the step of increasing the temporary reception delay timer and normal reception timer (S220), the temporary reception delay time If it exceeds, reset the normal reception timer and increase the reception delay timer (S230), the reception delay time is a temporary failure Determining whether the time corresponds to the regular time (S240), Determining the temporary failure (S250), Determining whether the number of the temporary failure occurs more than the complete failure determination criteria (S260) and Determining the complete failure (S270) It may include.

In step S100, the reception check unit may check whether or not the message transmitted from another controller is received at each reception cycle of the preset message.

In step S110, when the normal determination unit confirms that the message is received through the reception check unit, the temporary reception delay timer and the reception delay timer may be reset, and the normal reception timer may be increased.

In step S120, the normal determination unit may determine whether the accumulated time of the normal reception timer satisfies the normal determination time. If the accumulated time of the normal reception timer does not satisfy the normal determination time, the process returns to step S100 to check whether the message is received again.

In step S130, when the normal determination time is satisfied, the normal determination unit may determine the normal state of the message.

In step S210, when the message reception is not confirmed through the reception check of the reception check unit, the reception delay determination unit 120 compares the reception delay time of the message with a preset reference delay time, and temporarily receives or receives the reception delay according to the comparison result. Determination can be made by dividing the delay. In this case, if the reception delay time of the message does not exceed the temporary reception delay time (reference delay time), the reception delay determination unit may determine that the message is a temporary reception delay and perform step S220.

Also, if the reception delay time of the message exceeds the temporary reception delay time (standard delay time), the reception delay determination unit may determine that the message is delayed in reception and perform step S230.

In step S220, the reception delay determination unit may determine that the temporary reception delay is to increase the temporary reception delay timer and the normal reception timer.

In step S230, the reception delay determination unit may determine that the reception delay is to reset the normal reception timer and increase the reception delay timer.

In step S240, the failure determination unit may compare the accumulated time of the reception delay timer with a preset temporary failure determination criterion. For example, if the accumulated time of the reception delay timer satisfies the temporary failure determination time, the failure determination unit may determine that the temporary failure is to perform step S250. In addition, if the accumulated time of the temporary reception delay timer does not satisfy the temporary failure determination time, the process returns to step S100 to check whether the message is received again.

In step S250, the failure determination unit may determine a temporary failure. In addition, the failure determination unit may count the number of temporary failure determination times.

In step S260, the failure determination unit may compare the temporary failure determination frequency with a preset complete failure determination criteria. For example, if the temporary failure determination count is greater than or equal to the complete failure determination count, the failure determination unit may determine that the failure is complete and perform step S270. In addition, if the temporary failure determination count is less than the complete failure determination count, the flow returns to step S100 to check whether the message has been received again.

In step S270, the failure determination unit may determine complete failure.

As described above, in the method for diagnosing and restoring a message reception state of a vehicle controller according to an embodiment of the present invention, the controller is normally operated by intermittent reception delay even after the message reception delay failure is determined. It is possible to improve the situation in which it is impossible to return to normal return.

Although the technical spirit of the present invention has been described above with reference to the accompanying drawings, the present invention has been described by way of example and is not intended to limit the present invention. In addition, it is obvious that any person skilled in the art may make various modifications and imitations without departing from the scope of the technical idea of the present invention.

100: vehicle controller
200: CAN network

Claims (10)

A vehicle controller for diagnosing and restoring a reception state of a message through a communication bus in a vehicle network,
A reception checking unit checking whether a message is received at each reception period of the message;
A reception delay determining unit which determines a temporary reception delay or a reception delay by comparing the reception delay time of the message with a preset reference delay time;
A temporary reception delay timer, a reception delay timer, and a normal reception timer that accumulate time from a corresponding time point according to each case of the temporary reception delay, reception delay, and normal reception of the message; And
A failure determination unit for determining a temporary failure by comparing the accumulated time of the reception delay timer with a temporary failure determination criterion and comparing the frequency of occurrence of the temporary failure with a complete failure determination criterion;
Including, the vehicle controller.
The method of claim 1,
And a normal determination unit for comparing the accumulated time of the normal reception timer with a normal determination criterion to determine a normal state of the message.
The method of claim 2,
And the normal determination unit resets the temporary reception delay timer and the reception delay timer when the message reception is confirmed through the reception check unit, and increases the normal reception timer.
The method of claim 1,
And the reception delay determining unit increases the temporary reception delay timer and the normal reception timer when it is determined that the reception delay is a temporary reception delay.
The method of claim 1,
And the reception delay determination unit resets the normal reception timer and increases the reception delay timer when it is determined that the reception delay has been determined.
(a) confirming receipt of the message;
(b) determining whether the message reception time exceeds the temporary reception delay time;
(c) operating each of the temporary reception delay timer, the normal reception timer, and the reception delay timer;
(d) determining whether the reception delay time corresponds to a temporary failure determination time;
(e) determining a temporary failure;
(f) determining whether the number of temporary failure occurrences is greater than or equal to the complete failure determination criterion; And
(g) determining complete failure;
A method for diagnosing and restoring a message reception state of a vehicle controller comprising a.
The method of claim 6,
If the message reception is confirmed in the step (a),
Resetting the temporary reception delay timer and the reception delay timer and increasing the normal reception timer;
Determining whether a steady state determination time is satisfied using the increased normal reception timer; And
Confirming to a steady state;
A method for diagnosing and restoring a message reception state of a vehicle controller.
The method of claim 6,
If the temporary reception delay time in step (b) is exceeded,
In the step (c), the normal reception timer is reset, and the reception delay timer is increased.
The method of claim 6,
If the temporary reception delay time in step (b) is not exceeded,
In the step (c), increasing the temporary reception delay timer and the normal reception timer.
The method of claim 6,
If it is determined in step (c) that the temporary reception delay is increased, the temporary reception delay timer and the normal reception timer are increased, and if the reception delay is determined, the normal reception timer is reset and the reception delay timer is increased. Method of diagnosing and restoring message reception status of a vehicle controller.

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