WO2004047385A2 - Gateway-einheit zur verbindung von subnetzen in fahrzeugen - Google Patents
Gateway-einheit zur verbindung von subnetzen in fahrzeugen Download PDFInfo
- Publication number
- WO2004047385A2 WO2004047385A2 PCT/DE2003/003848 DE0303848W WO2004047385A2 WO 2004047385 A2 WO2004047385 A2 WO 2004047385A2 DE 0303848 W DE0303848 W DE 0303848W WO 2004047385 A2 WO2004047385 A2 WO 2004047385A2
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- WO
- WIPO (PCT)
- Prior art keywords
- gateway
- software
- bus
- gateways
- gateway unit
- Prior art date
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- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 239000000872 buffer Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 description 17
- 238000010168 coupling process Methods 0.000 description 17
- 238000005859 coupling reaction Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/66—Arrangements for connecting between networks having differing types of switching systems, e.g. gateways
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
- H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
- H04L12/462—LAN interconnection over a bridge based backbone
- H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
- H04L47/2425—Traffic characterised by specific attributes, e.g. priority or QoS for supporting services specification, e.g. SLA
- H04L47/2433—Allocation of priorities to traffic types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0044—In digital systems
- B60W2050/0045—In digital systems using databus protocols
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/407—Bus networks with decentralised control
- H04L12/413—Bus networks with decentralised control with random access, e.g. carrier-sense multiple-access with collision detection [CSMA-CD]
- H04L12/4135—Bus networks with decentralised control with random access, e.g. carrier-sense multiple-access with collision detection [CSMA-CD] using bit-wise arbitration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
Definitions
- Gateway unit for connecting subnets, especially in vehicles
- the invention relates to a gateway unit for connecting subnets, in particular in vehicles.
- gateway unit that connects two bus segments with one another has the task of forwarding messages that are received on one bus segment to another bus segment (routing).
- routing The complexity of such a gateway unit increases with the number of bus segments to be coupled.
- the modular design of a gateway unit in which a gateway designed in software (logical software gateway) is responsible for routing messages between exactly two subnets, enables gateways to be expanded without changing the existing software of the gateway and / or in the existing configuration tables. By adding or leaving out such a modular gateway when changing the network topology, such change measures are avoided. Accordingly, it is possible to remove a bus segment from a central gateway unit without influencing existing coupling paths.
- a gateway designed in software logical software gateway
- the concept outlined above can be flexibly expanded and adapts to the network coupling architecture. If an additional subnet is added to a central gateway, only the additional modular gateways need to be added. The existing modular gateways are not affected. If a subnet is removed, the gateways that link to this subnet are removed, the rest remain unchanged.
- a message is routed as quickly as possible. This avoids unnecessary overhead for routing a message. Since a logical gateway is responsible for the coupling of two subnets, the flow of information can be controlled separately if the Data transfer takes place between a subnet with safety-critical functions and a subnet with non-safety-critical functions. Thus, an optimal control possibility for a firewall functionality is provided. This can control each coupling path individually.
- a logical gateway that routes messages via an air interface can implement stricter security mechanisms to ward off external threats than a logical software gateway that routes messages between two CAN subnets in the vehicle and is not directly exposed to any external threats.
- the complexity of the entire gateway unit is reduced, since the individual logical gateways are not linked to one another at all. It doesn't matter whether three logical gateways run on a central gateway or on three separate point-to-point gateways.
- Gateways according to which routing tables are provided in each gateway, via which the routing of the messages is handled and which are independent of the software of the gateway.
- This table-based approach makes it possible to use a tool to configure the gateway software.
- This approach also advantageously leads to the possibility of prioritizing the messages, so that certain messages that are to be routed preferentially can be assigned a higher priority than other messages.
- a scheduler is advantageously provided which, despite the division into several modular software gateways, ensures that the sequence of the
- Message routing is adhered to. In this way, a message that first arrived at the gateway can also leave the gateway first.
- Figure 1 shows the basic principle of the described architecture of a gateway unit, which connects three bus segments with each other.
- FIG. 2 shows a preferred embodiment of such a gateway
- Messages are communicated between a low-speed CAN, a high-speed CAN and an SPI bus.
- Figure 3 shows a central gateway unit for coupling between four subnets, while in
- FIG. 5 shows a gateway integrated in a control unit using a
- gateway unit 10 to which three bus segments 1, 2, 3 are coupled and which has the task of connecting (routing) messages from one bus segment to one of the other or to both other bus segments.
- the basic principle of the architecture shown are the modular gateways (logical software gateways) 12, 13, 23, such a gateway being responsible for the routing of messages between exactly two subnets.
- the gateway routes 12 messages from 1 to 2 and vice versa, the gateway 13 messages from 1 to 3 and vice versa, the gateway 23 messages from 2 to 3 and vice versa.
- Each logical software gateway therefore describes an individual coupling path between two subnets or bus segments.
- the gateways 12, 13, 23 are designed as software programs, with the aid of which the protocol-specific adaptations that are necessary for a message
- each subnet is an individual transmission medium.
- Subnet 1 can be, for example, a low-speed CAN, subnet 2 a high-speed CAN and subnet 3 a SPI bus.
- a new subnet is added, for example a MOST bus, additional logical software gateways are integrated. The existing do not have to be changed.
- a subnet is removed, for example the SPI bus, the logical software gateways 13 and 23 are removed.
- logical software gateways In order to have a universal gateway function, logical software gateways must be written for all coupling options. Depending on the design of the gateway to be implemented, these are then combined to form the overall system.
- N corresponds to the number of subnets in the overall system. This results in 3 logical software gateways for three subnets, 6 for four subnets and 10 for five subnets. Whether these logical software gateways are located in a central gateway or in several distributed point-to-point gateways plays a subordinate role.
- FIG. 2 shows a more detailed embodiment of the basic features of the modular
- the gateway 10 which is preferably implemented as a program in a microcontroller of a control unit, comprises, in addition to the modular software gateways shown (: CANCAN,: CANSPI), bus-specific transmission units which control access to the bus medium.
- Each bus segment is assigned receive objects (: Rx-CAN,: Rx-SPI), which make the decision as to which logical software gateway an incoming message is routed to.
- Rx-CAN receive objects
- Rx-SPI receive objects
- TxCAN bus-specific transmission objects
- the software gateways (in Figure 2: CANCAN: CANSPI) are composed internally of several software objects, which buffer incoming messages and make the protocol-specific adjustments.
- a simple adaptation is, for example, that a CAN message must be sent from the high-speed CAN with ID 100 to the low-speed CAN with ID 200.
- These protocol-specific adjustments are then made by appropriate programs (for example, in the simplest case using a table).
- Configuration tables are used for the protocol-specific adjustments that are carried out within the logical software gateways.
- the bus-specific receive objects are configured using so-called routing tables, with the aid of which it is decided whether an incoming message is passed on to none, to one or to both logical software gateways.
- the further processing of the message is thus stored in the routing table for each incoming message type. Furthermore, due to the different speed of the buses, it can happen that from one to the other bus segment only every fifth message of a certain type (eg engine speed) is forwarded. This can also be implemented in the receive object using the routing tables mentioned. These routing tables are independent of the source code of the actual gateway, so that changing the routing tables does not result in changes in the software of the affected modular gateway, or only insignificant changes.
- the bus-specific receiving unit searches for the message found in the routing table and, based on the information contained therein, decides which logical software gateway receives the message for further processing.
- bus-specific transmission units or the programs provided there control access to the bus. If the bus is currently busy, make sure that no logical software gateway is sending.
- the logical software gateways buffer the messages to prevent message loss, e.g. when the bus segment to be sent is currently busy. A message is therefore put on hold before it is forwarded directly.
- the storage of a message in this queue is noted in the internal scheduler of the gateway unit. This then causes the message to be sent by sending a message to the corresponding modular logical software gateway. This then causes the message to be sent. So if a logical software gateway wants to send a message, it has to register this transmission request with the scheduler. It depends on the order of registration which software gateway is the first to be authorized to send one
- the scheduler provides several methods which can be called by the logical software gateways to register a send request. The scheduler then always processes the high-priority requests first and then the normal and issued Priority-dependent send authorizations to the logical software gateways. For example, each send request is provided with a date representing the priority of the message or the scheduler comprises a table in which the priorities of the messages are noted, from which the scheduler reads the priority.
- the gateway can be reprogrammed for another message routing by changing the parameter sets in the memory. If the same interfaces are used, the gateway software can only be used
- Configure parameter sets When connecting other interfaces to the gateway, a modular software module must be integrated into the gateway. Different gateway configurations are thus generated by merging software modules, for example from libraries and from providing the routing information.
- Matrix is essentially limited to entering the new routing information in the routing table. In this way, CAN-CAN gateways of different baud rates can be fitted into a system in the shortest possible time. The testability and verification of the resulting code are simplified because the configuration-independent code is tested centrally and, in addition to the system test, only an integration test for the new logical SW gateway or the new configuration has to be carried out.
- FIG. 3 shows a gateway 10 for coupling 4 different bus segments, a low-speed CAN, a high-speed CAN, an SPI bus and a MOST bus.
- the architecture described above is also used here, whereby logical software gateways OCAN-MOST,: CAN-SPI,: CAN-CAN,: SPI-MOST) are used, each of which realizes an individual coupling path.
- bus-specific receiver modules (: Rx-Most,: Rx-CAN,: Rx-SPI) and transmitter modules (: Tx-Most,: Tx-CAN,: Tx-SPI) are shown as described above.
- the architecture shown shows a central gateway unit that connects the four bus segments mentioned.
- FIG. 1 shows a central gateway unit that connects the four bus segments mentioned.
- FIG. 4 shows another network topology which has six point-to-point gateway units 10a, 10b, 10c, 10d, 10e and 10f.
- Each of these point-to-point gateways contains the logical software gateway structure shown above with transmitter and receiver elements for bus-specific connection. It shows that the physical network architecture between the two extremes of central gateway and point-to-point gateway can contain all conceivable mixed forms.
- the software architecture is independent of the physical network architecture, so that it allows coupling in all conceivable architectures. It can be different that the central
- Gateway variant the software on a microcontroller, in the decentralized variant it runs on different controllers.
- the routing decision is configured using routing tables.
- the bus-specific receive objects decide which logical software gateways a message should be forwarded to. These receive objects are therefore configured with routing tables, which specify which messages are to be forwarded to which subnet and, if necessary, under which boundary conditions (e.g. every 5th, etc.).
- the software of the software gateways then realizes the bus-specific adaptations and is independent of the actual routing process.
- the software gateways are then configured by adapting the protocol parameters.
- the logical gateways are configured using tables that specify how the protocol parameters are to be implemented. Here you can configure that a message with the identification code 100 is sent on the other network segment
- the routing tables with which the bus-specific reception objects are configured must be divided or merged. This task is performed by an internal scheduler, which coordinates the logical software gateways in a central gateway unit. The scheduler must be generated individually for the different gateway variants.
- the gateway is not a standalone gateway, but a gateway that is integrated into a control unit with additional application functions.
- the gateway software can also take over the functionality of a normal communication deck. This means that it must also be possible to forward messages to the actual applications and to receive messages for sending them.
- additional objects are required, which have the ability have to remove or add the layer-specific protocol parameters in order to pass the message on to the next higher or lower layer. These additional objects are usually part of the software of the normal communication network.
- FIG. 5 shows the layer model of a control device 100, in which a CAN-CAN gateway is integrated. A distinction is made between application system I and communication system II.
- a driver 102 for the low-speed CAN and a driver 104 for the high-speed CAN being provided in a first layer.
- additional objects were inserted in the network layer 3 (CAN layer 3), which communicate with the applications A, B and C via the receive and transmit objects Rx3 and Tx3. If necessary, these additional objects buffer the messages and add or remove protocol-specific parameters.
- the logical software gateway integrated in this layer (CAN-CAN) routes messages from one bus to another.
- the receive and transmit objects Rx2 and Tx2 become the same as above
- Described used for routing messages between the two CAN buses represent the interfaces between the layers.
- a transport protocol e.g. ISO TP
- a CAN-CAN gateway can be provided in layer 3, which can transport CAN messages (eg speed information or tank level) in layer 3, while another CAN-CAN gateway links transport information in layer 4, which, for example, text for display in
- a coupling in higher layers may also be necessary in order to be able to check the content of a message that is to be forwarded. The content can only be analyzed when the complete message has been received.
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- Computer Networks & Wireless Communication (AREA)
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- Data Exchanges In Wide-Area Networks (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03788797A EP1566029B1 (de) | 2002-11-20 | 2003-11-20 | Gateway-einheit zur verbindung von subnetzen in fahrzeugen |
US10/535,486 US7802016B2 (en) | 2002-11-20 | 2003-11-20 | Gateway unit for connecting sub-networks, in particular in vehicles |
JP2004552418A JP2006506862A (ja) | 2002-11-20 | 2003-11-20 | 例えば車両におけるサブネットワークを接続するためのゲートウェイユニット |
DE50308326T DE50308326D1 (de) | 2002-11-20 | 2003-11-20 | Gateway-einheit zur verbindung von subnetzen in fahrzeugen |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE10254285.6 | 2002-11-20 | ||
DE10254285A DE10254285A1 (de) | 2002-11-20 | 2002-11-20 | Gateway-Einheit zur Verbindung von Subnetzen, insbesondere in Fahrzeugen |
Publications (2)
Publication Number | Publication Date |
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WO2004047385A2 true WO2004047385A2 (de) | 2004-06-03 |
WO2004047385A3 WO2004047385A3 (de) | 2004-09-02 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/DE2003/003848 WO2004047385A2 (de) | 2002-11-20 | 2003-11-20 | Gateway-einheit zur verbindung von subnetzen in fahrzeugen |
Country Status (5)
Country | Link |
---|---|
US (1) | US7802016B2 (de) |
EP (1) | EP1566029B1 (de) |
JP (1) | JP2006506862A (de) |
DE (2) | DE10254285A1 (de) |
WO (1) | WO2004047385A2 (de) |
Cited By (25)
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WO2007134955A1 (de) * | 2006-05-24 | 2007-11-29 | Robert Bosch Gmbh | Kommunikationsbaustein |
WO2007143419A2 (en) * | 2006-05-31 | 2007-12-13 | Honeywell International Inc. | Apparatus and method for integrating wireless or other field devices in a process control system |
WO2008029317A2 (en) * | 2006-09-06 | 2008-03-13 | Nxp B.V. | Cluster coupler in a time triggered network |
EP2197160A1 (de) * | 2008-12-10 | 2010-06-16 | Siemens Aktiengesellschaft | Azyklischer Datentransfer über einen Feldbuskoppler |
US7876722B2 (en) | 2006-05-31 | 2011-01-25 | Honeywell International Inc. | System and method for wireless communication between wired field devices and control system components |
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US7965664B2 (en) | 2006-05-31 | 2011-06-21 | Honeywell International Inc. | Apparatus and method for integrating wireless field devices with a wired protocol in a process control system |
US8266602B2 (en) | 2006-05-31 | 2012-09-11 | Honeywell International Inc. | Apparatus and method for converting between device description languages in a process control system |
US8498201B2 (en) | 2010-08-26 | 2013-07-30 | Honeywell International Inc. | Apparatus and method for improving the reliability of industrial wireless networks that experience outages in backbone connectivity |
US8756412B2 (en) | 2010-04-16 | 2014-06-17 | Honeywell International Inc. | Gateway supporting transparent redundancy in process control systems and other systems and related method |
EP2800316A1 (de) * | 2013-05-01 | 2014-11-05 | Renesas Electronics Europe GmbH | Can fd |
US9049049B2 (en) | 2008-10-20 | 2015-06-02 | Hitachi Automotive Systems, Ltd. | Routing method in in-vehicle gateway device |
US9110838B2 (en) | 2013-07-31 | 2015-08-18 | Honeywell International Inc. | Apparatus and method for synchronizing dynamic process data across redundant input/output modules |
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EP1703689B1 (de) * | 2005-03-18 | 2008-09-17 | Delphi Technologies, Inc. | Lokales Netzwerk für Fahrzeuge |
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WO2007134955A1 (de) * | 2006-05-24 | 2007-11-29 | Robert Bosch Gmbh | Kommunikationsbaustein |
WO2007143419A2 (en) * | 2006-05-31 | 2007-12-13 | Honeywell International Inc. | Apparatus and method for integrating wireless or other field devices in a process control system |
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Also Published As
Publication number | Publication date |
---|---|
US20060130049A1 (en) | 2006-06-15 |
EP1566029A2 (de) | 2005-08-24 |
EP1566029B1 (de) | 2007-10-03 |
DE50308326D1 (de) | 2007-11-15 |
WO2004047385A3 (de) | 2004-09-02 |
JP2006506862A (ja) | 2006-02-23 |
US7802016B2 (en) | 2010-09-21 |
DE10254285A1 (de) | 2004-06-03 |
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