WO2016046327A1 - Mise à jour d'une commande de véhicule par car2x - Google Patents

Mise à jour d'une commande de véhicule par car2x Download PDF

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Publication number
WO2016046327A1
WO2016046327A1 PCT/EP2015/072003 EP2015072003W WO2016046327A1 WO 2016046327 A1 WO2016046327 A1 WO 2016046327A1 EP 2015072003 W EP2015072003 W EP 2015072003W WO 2016046327 A1 WO2016046327 A1 WO 2016046327A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
update
update message
car2x
control device
Prior art date
Application number
PCT/EP2015/072003
Other languages
German (de)
English (en)
Inventor
Alfred Eckert
Klaus Rink
Georg Fernkorn
Original Assignee
Continental Teves Ag & Co. Ohg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2016046327A1 publication Critical patent/WO2016046327A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • G06F8/656—Updates while running
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station

Definitions

  • the invention relates to a method for updating at least part of a control device in a vehicle, a control device for carrying out the method and the vehicle with the control device. From DE 100 37 397 AI is a method for wireless
  • a method for updating at least a portion of a controller in a vehicle having an interface to a vehicle ad hoc network comprising:
  • the specified method is based on the consideration that when updating a control unit in a vehicle, too Updata of the control unit called, various prerequisites to the update process itself, as well as to the control data contained in the update message and Aktua ⁇ lmaschineschal are provided.
  • these update messages must be executed tamper-proof with the control data and update data so that no misinformation, such as viruses or the like, is loaded onto the control unit.
  • the function performance and in particular the reliability of the control device to be updated ge ⁇ can be ensured more during the update process, the update may only be installed in a state of the vehicle, in which the
  • vehicle ad hoc networks are also called Car2X networks or V2X networks.
  • Vehicle ad hoc networks already intrinsically include security systems such as secured data or firewall transmission and therefore provide a very high level of security against tampering.
  • This security architecture offered by vehicle ad hoc networks which thus also includes the radio interface, is used according to the invention for updating control devices in vehicles. In this way, standardized messages can be used to update the vehicle at any time, whereby the messages themselves can control not only the update but also the time of the update.
  • the interface is a Car2X receiver or a radio interface of a Car2X network comprising a secure ⁇ care system and / or a firewall for processing data, in particular an update message has. It is intended that updates or the first processing of the update messages by means of the Car2X receiver takes place.
  • the Car2X receiver advantageously has a security system, which can check both the authenticity and the harmlessness of the update messages. These do not have to be provided exclusively for checking update messages. It is also possible to use existing security systems within a Car2X receiver, which are necessary for the processing of Car2X messages.
  • the radio interface to a memory for Save the update message, wherein the Aktua ⁇ ltechniksbotschaft is stored after receiving in the memory.
  • the memory can be formed separately from other memory parts on the hardware or software side. It is, for example, conceivable to use an encapsulated memory partition for storing the update messages.
  • the update message is checked within the memory by means of the radio interface.
  • the update message for updating is forwarded from the memory only if the update message was classified as safe and / or authentic after a check.
  • the update message transmitted via the vehicle ad hoc network can in a development of the specified method control data for controlling the update and
  • Update data included. With the control data can then be various conditions for updating the
  • control unit under which the update of the control unit should take place.
  • the update of the control unit in a particular development of the specified method can be started based on the control data in a defined state of the vehicle.
  • This defined state can be specified depending on the application for each control device to be updated.
  • the controller to be updated concerns a hill start assist for a vehicle, and the vehicle is traveling on a highway with a route determined by the driver, which suggests that the vehicle will remain on the highway for a certain period of time, then the control unit relating to the hill-start assist can be updated in this state.
  • a vehicle dynamics control should not be updated in the same state because it is safety relevant on the highway. Conversely, however, it behaves in a traffic-calmed zone in which the vehicle drives so slowly that the vehicle dynamics control is ineffective, but a possible use of the Hill Start Assist can not be excluded.
  • the state of the vehicle in which the update of the at least one part of the control unit is started should therefore be in a preferred embodiment of the specified
  • a condition can be detected with all available sensors in the vehicle.
  • Between the aforementioned trip on the highway or the traffic-calmed zone can be distinguished, for example, with a Navigati ⁇ ons réelle and possibly there programmed route.
  • a fusion sensor could be used which outputs the sensor signals necessary for state detection with a high degree of integrity, for example in a qualifier.
  • a further advantage of using a vehicle ad hoc network for exchanging at least part of the data required for an update is also the secure memory that is stored in an interface to the driver - Tools ad hoc network is inherent in principle and can be used.
  • Vehicular ad hoc networks themselves are defined by country-specific communication protocols, whereby for example in 1609, reference is made to IEEE and in SAE for the United States of America to the specification ETSI TC ITS in ETSI for Europe and the speci ⁇ fication IEEE.
  • the update data can be used arbitrarily.
  • the update data may be used to update already existing control and management functions on the controller. Alternatively or additionally, with the update data but also new functions can be installed on the control device.
  • the specified method may include the step of locking the updated part of the control device for intervention in the vehicle.
  • the system of the control unit could initially continue to operate in its form prior to the update, and the updated system could initially be used in the test form mentioned above. This way, before the release of the updated Control device a plurality of vehicle initially for the test of the update data, quasi a moving emulation board are used, which results in a huge economic savings potential for release tests.
  • output data from the locked part of the control unit can be transmitted via the interface to any receiver, which then evaluates the output data for test purposes.
  • the principle can be applied to any development activities, since the update data can also be used to install a function on the control unit with which vehicle data can be collected for further development of functions and sent to a control center. To release then only the locked part of the
  • ECU to be released for engagement in the vehicle based on an enable signal.
  • the specified method comprises the steps:
  • Control device present, which make an update of the control unit necessary.
  • the Ver ⁇ networking of vehicles with one another are used to a Network vehicle pool with each other, which in a radius of a few hundred meters (in this case guaranteed range of the ITS-G5 technology) is located to organize the Up ⁇ date activities and / or manage. For example, it may be determined that only a certain number of existing vehicles will definitely be needed in a given period of time. This would ensure that not all vehicles simultaneously start an update of their control unit, so that there would always be a corresponding number of vehicles available (eg in the fleet of a company, car sharing, several vehicles per household, etc).
  • a Car2X receiver and / or a control device is set up to carry out one of the specified methods.
  • the specified device has a memory and a processor.
  • the specified method is stored in the form of a Compu ⁇ terprogramms in the memory and the processor is provided for performing the method when the computer program from the memory is loaded into the processor.
  • the update is initiated by means of the Car2X radio interface.
  • the radio interface queries the dynamic state of the vehicle via a driving dynamics control of the vehicle and an update is initiated only if a safer Operating state, in particular standstill of the vehicle has been detected.
  • a Ak ⁇ tualtechnischsbotschaft will be required for a control device by means of the Car2X radio interface, when a control unit reports an error to the Car2X radio interface.
  • a computer program comprises program code means for performing all the steps of one of the specified methods when the computer program is executed on a computer or one of the specified devices.
  • a computer program product comprises a program code which is stored on a data carrier and the compu ⁇ terlesbaren, when executed on a data processing device, carries out one of the methods specified.
  • a vehicle includes a specified controller.
  • FIG. 1 is a schematic diagram of a vehicle
  • FIG. 2 is a schematic diagram of a vehicle ad hoc network to which the vehicle of FIG. 1 may participate
  • FIG. 3 is a schematic diagram of a control device in the vehicle of FIGS
  • Fig. 4 shows a schematic diagram of an alternative control device in the vehicle of Fig. 1 show.
  • control is used as a short form for the term control device.
  • FIG. 1 a vehicle 1 is shown with a plurality of control devices, which will be discussed in more detail later.
  • the vehicle 1 comprises a chassis 3, which is movably supported on four wheels 2 on a ground, not shown, wherein each wheel 2 can be driven individually by an electric motor 4. Furthermore, seen in a direction of travel 5, the wheels 2 can be taken at the front of the vehicle 1 via a steering 6.
  • the electric motors 5 are driven from a motor controller 7 by means of drive control signals 8 in a manner known per se based on an acceleration request 9.
  • This acceleration request 9 can be predefined by a driver, for example via an accelerator pedal (not shown). A further example of specifying the acceleration request 9 will be discussed later.
  • the steering 6 is driven in a manner known per se based on a steering angle 10 to change the direction of travel 5.
  • the vehicle 1 further comprises a driving dynamics control 11, which, for example, with different driving dynamics control signals 12, the engine controller 7 can instruct to control the electric motors 4 different degrees. In this way, the vehicle 1 can be imposed a defined rotation about its vertical axis, a so-called yawing.
  • Such yawing is used as part of a so-called vehicle dynamics control to avoid an understeering or oversteering of the vehicle 1 on the substrate to ver ⁇ .
  • the vehicle dynamics control unit 11 detects the wheel speed 14 on each wheel individually by means of wheel speed sensors 13 and determines in a manner known per se whether the vehicle 1 rotates more strongly about its vertical axis than specified by the steering angle 10.
  • the vehicle 2 gasses inadmissibly, which compensates the driving dynamics control 11 by driving the motor control 7 in the manner described above with a counter-rotation against the inadmissible rotation about the vertical axis.
  • the vehicle 1 is held on a given by the steering angle 10 adoptedraj ektorie.
  • DE 10 2011 080 789 AI at ⁇ For more background information on vehicle dynamics control systems will play as made to DE 10 2011 080 789 AI at ⁇ .
  • the vehicle 1 includes controller 15 for Hochau ⁇ tomatinstrumentes driving, hereinafter called HAF-controller 15.
  • HAF-controller 15 for Hochau ⁇ tomatinstrumentes driving
  • HAF control 15 during the fully automatic control phase by specifying the acceleration request 9, the steering angle 10 and a braking request 17 in the vehicle 1 and thus provides the aforementioned coefficientraj ektorie.
  • the trajectory is essentially influenced by the lane, traffic signs, possible obstacles, etc.
  • the vehicle 1 comprises a camera 18 and a distance sensor 19, which exemplarily represent multiple cameras and distance sensors aligned around the vehicle 1 in all directions.
  • the camera 18 detects an image 21 in an angle 20 and outputs it to the
  • the distance sensor 19 includes, for example with radar beams 22, a distance 23 to a potential object in front of the vehicle 1 and also outputs this to the HAF control 15. Detects the HAF controller 15 based on the image 21 an object in front of the vehicle 1 and knows its distance 23, then it can according to the acceleration request 9, the steering angle 10 and the brake request 17 ectorie to select a termeraj ektorie on the object.
  • HAF controls for example, reference is made to DE 10 2012 112 442 AI.
  • All controllers 7, 11, 15 in the vehicle 1 shown in FIG. 1 are generally based on a respective computer which executes a computer program for the purpose of fulfilling the abovementioned tasks. It may be necessary and / or desired to update this computer program from time to time.
  • the update data 24 required for the update is to be transmitted in an update message 25 via a vehicle ad hoc network 26, hereinafter called Car2X network 26, indicated in FIG. 2.
  • Car2X network 26 are country-specific messages according to a communication protocol between the individual partial ⁇ slave node, including the vehicle 1 belongs replaced. Such a communication protocol is for example defined in the ETSI TC ITS at ETSI for Europe or in IEEE 1609 at IEEE and at SAE which is the United States of America.
  • the idea of the present embodiment is now to extend the messages defined there by the update message 25.
  • the concrete definition of the update message 25 must be application-dependent, depending on the communication protocol in which it is to be defined.
  • a Car2X receiver 27 is present in the vehicle 2, which receives via a Car2X antenna 28 a Car2X signal 29 on which the update message 25 is carried in a manner to be defined according to the communication protocol.
  • the received update message 25 may then via a data bus 30 in the vehicle 1 to the ent ⁇ speaking controller 7, 11, are passed 15th
  • the transmission of the Aktuali ⁇ s istsbotschaft will be explained using the vehicle 1 25 below.
  • the respective communication protocol defines a network ⁇ plant structure, which is discussed hereinafter only schematically.
  • an updating server 31 on the side of a provider 32 generates the updating data 24 and corresponding control data 33, which could possibly be necessary for carrying out the updating of the corresponding controller 7, 11, 15. Together with a provider identifier 34 and a time stamp 35, the updating item is then sent to the provider 32 in a message generator 36. 25 is generated and packaged in a routing layer 37 in at least one data packet 38. A physical layer 39 then modulates the at least one data packet 38 onto the Car2X signal 29 and transmits to the Car2X network 26.
  • the update message 25 can then be forwarded to one of the controllers 7, 11, 15.
  • the update message 25 is to be processed in the HAF controller 15 and to update it.
  • a message extraction device 40 is present in the HAF controller 15, which could optionally also be arranged in the Car2X receiver 27. These extracted from the update message 25, the Aktuali ⁇ stechnikschal 24 and the control data 33. Further, in the controller 15 HAF two parts are present. A control part 41 performs the interventions in the vehicle 1 in the above-mentioned manner. In return, a test part 42 is provided to receive the sensor signals 21, 23, but to generate only test signals 9 10 17 ⁇ , which can then be sent for example via the Car2X network 26 back to the provider.
  • control data 33 contain an instruction as to whether the control part 41 or the test part 42 of the HAF control 15 should be updated with the update data 24, that is to be programmed.
  • an update control 43 receives the control data 33 and controls with a selection signal 44 via a switch 45, which of the two parts 41, 42 to be updated.
  • the update controller 43 may check a state of the HAF controller 15, and the update data 24 in response to this state to update the
  • the power on command 16 is selected as a state such that the update controller 43 releases the update only when the HAF controller 15 is turned off and the driver steers the vehicle 1 itself.
  • the test part 42 could also basically be updated based on the update data 24. Only when the effects on the test part 42 and the potential effects on the HAF controller 15 have been tested, could the update controller 43 with the selection signal 44 release the update on the control part 41.
  • the control data 33 and the update data 24 could be sent, for example, in separate update messages 25, the provider 32 first installing the update on the test part 42, then testing ⁇ 9 based on the test signals 9 10 17 and finally enabling the control data 33.
  • the update control 43 could also undertake the testing based on the test signals 9 10 17 ⁇ .
  • the HAF controllers 15 of FIGS. 3 and 4 can also be combined with each other. It should also be executed at this point showed ⁇ that the embodiment of the in each controller Vehicle, including in controls that are not shown in Fig. 1, can be implemented. An example of this would be a brake control for controlling a brake, not shown, of the vehicle based on the braking request 17.
  • the update can be done automatically, but the provider 32 can also send in the update message 25 or in a separate update message 25 a dotted Initialization request shown in FIG. 2 46 to the driver of the vehicle 1, the driver of the vehicle 1 is then displayed in the vehicle 1.
  • an update message 25 has.
  • the Car2X receiver 27 may be provided with a memory for storing the update message 25, the update message 25 being stored in the memory upon receipt.
  • the update message 25 is then checked within the memory by means of the Car2X receiver 27.
  • the update message 25 for updating is forwarded out of the memory only if the update message 25 has been classified as secure and / or authentic after a check.
  • An update of a control unit can also be triggered by the fact that an error occurs in a control unit.
  • the controllers and the Car2X receiver 27 may be designed to replace this error.
  • the error can be used to send an error report to a server. This can be used to send a corresponding update message 25 to fix the error to the Car2X receiver.
  • the Car2X receiver 27 also by itself an update or requests a specific update message 25 from a server or other vehicle.
  • the Car2X receiver can also generate a warning that is displayed to the driver.
  • this error message is sent by a server and transmitted to the Car2X receiver 27 to display it to the driver.
  • the Car2X receivers may be designed such that the update of ECUs between multiple vehicles is performed cooperatively scheduled. To do this, the Car2X receivers 27 exchange the upcoming updates with each other and carry them out in such a way that the restriction of vehicle use is as low as possible. In a larger fleet can be ensured in this way that a part of vehicles is always ready to drive.
  • the networking of vehicles via the Car2X receivers could be used to organize / manage the updates. For example, it may be determined that only a certain number of the existing total number of existing vehicles will definitely be needed in a given period of time. This ensures that not all vehicles start updating at the same time and that the corresponding number of vehicles is always available at the same time. This system could also be varied so that a vehicle having an overview of the vehicles with upcoming updates will report them to a server and wait for them to release to perform the updates and then initiate the networked vehicles for updating.

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé de mise à jour d'au moins une partie (41, 42) d'un dispositif de commande (7, 11, 15) dans un véhicule (1), comprenant une interface (27) avec un réseau ad-hoc de véhicule (26), comprenant : réception d'au moins un message de mise à jour (25) envoyé dans le réseau ad-hoc de véhicule (26) pour la mise à jour du dispositif de commande (7, 11, 15) par le biais de l'interface (27), et mise à jour de ladite partie (41, 42) du dispositif de commande (7, 11, 15) en se basant sur le message de mise à jour (25) reçu.
PCT/EP2015/072003 2014-09-24 2015-09-24 Mise à jour d'une commande de véhicule par car2x WO2016046327A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014219322.2A DE102014219322B4 (de) 2014-09-24 2014-09-24 Update einer Fahrzeugsteuerung per Car2X
DE102014219322.2 2014-09-24

Publications (1)

Publication Number Publication Date
WO2016046327A1 true WO2016046327A1 (fr) 2016-03-31

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PCT/EP2015/072003 WO2016046327A1 (fr) 2014-09-24 2015-09-24 Mise à jour d'une commande de véhicule par car2x

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DE (1) DE102014219322B4 (fr)
WO (1) WO2016046327A1 (fr)

Families Citing this family (3)

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DE102018003419A1 (de) 2018-04-26 2018-10-18 Daimler Ag Verfahren zur Kalibrierung und Plausibilisierung eines Antennensystems eines Fahrzeug-Ad-Hoc-Netzwerks
DE102018215011A1 (de) 2018-09-04 2020-03-05 Audi Ag Verfahren zum Installieren eines Programmcodepakets in ein Gerät sowie Gerät und Kraftfahrzeug
DE102018218736A1 (de) * 2018-11-01 2020-05-07 Continental Automotive Gmbh Vorrichtung zum Konfigurieren und zum Validieren eines Eingriffs in ein Echtzeit-Ethernet-Datennetzwerk

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DE102007039809A1 (de) 2007-08-23 2009-02-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Bordnetz zur Aktualisierung der Software in mindestens einem Steuergerät eines Kraftfahrzeugs mit einem USB-Speicherstick
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DE102014219322B4 (de) 2023-08-03

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