WO2017149825A1 - プログラム更新システム、プログラム更新方法及びコンピュータプログラム - Google Patents

プログラム更新システム、プログラム更新方法及びコンピュータプログラム Download PDF

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Publication number
WO2017149825A1
WO2017149825A1 PCT/JP2016/080067 JP2016080067W WO2017149825A1 WO 2017149825 A1 WO2017149825 A1 WO 2017149825A1 JP 2016080067 W JP2016080067 W JP 2016080067W WO 2017149825 A1 WO2017149825 A1 WO 2017149825A1
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Prior art keywords
update
program
control
gateway
ecu
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PCT/JP2016/080067
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English (en)
French (fr)
Japanese (ja)
Inventor
中野　貴之
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住友電気工業株式会社
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Publication of WO2017149825A1 publication Critical patent/WO2017149825A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/445—Program loading or initiating

Definitions

  • the present invention relates to a program update system, a program update method, and a computer program.
  • This application claims priority based on Japanese Patent Application No. 2016-039891 filed on Mar. 2, 2016, and incorporates all the content described in the above Japanese application.
  • a gateway such as an in-vehicle communication device receives an update program from a management server, and using the received update program, an ECU (Electronic Control Unit) changes the control program from the old version to the new version.
  • ECU Electronic Control Unit
  • a system is a program update system including a plurality of control devices mounted on a vehicle, and a plurality of gateways connected to the control devices so as to be able to communicate with the vehicle.
  • the gateway includes a storage unit that stores an update program for the plurality of control devices, an in-vehicle communication unit that transmits the stored plurality of update programs to the corresponding control device, and all of the necessity for simultaneous update.
  • a processing unit that executes an update continuation process that causes the control device to continue to update the control program until the control device completes the update of the control program using the update program.
  • a method is a program update method executed by a gateway connected to a plurality of control devices mounted on a vehicle so that in-vehicle communication is possible, and an update program for the plurality of control devices is executed.
  • a computer program is a computer program for causing a computer to function as a gateway connected to a plurality of control devices mounted on a vehicle so that in-vehicle communication is possible.
  • Executing update continuation processing for causing the control device to continue updating the control program until the update of the control program is completed.
  • FIG. 1 is an overall configuration diagram of a program update system according to an embodiment of the present invention. It is a block diagram which shows the internal structure of a gateway. It is a block diagram which shows the internal structure of ECU. It is a block diagram which shows the internal structure of a management server. It is a sequence diagram which shows an example of the simultaneous update of the control program with respect to several ECU. It is a state transition diagram which shows the rewriting process of the control program which ECU which has multiple operation area
  • the present disclosure provides a program update system or the like that can prevent a situation in which an operation failure occurs in a control device when the control programs of a plurality of control devices are updated simultaneously. For the purpose.
  • the program update system of the present embodiment is a program update system including a plurality of control devices mounted on a vehicle, and a plurality of gateways connected to the control devices so as to be able to perform in-vehicle communication.
  • a processing unit that executes an update continuation process that causes the control device to continue to update the control program until the control device completes the update of the control program using the update program.
  • the processing unit of the gateway stores the control program in the control device until all the control devices that need to be updated simultaneously complete the update of the control program using the update program. Since the update continuation process for continuing the update is executed, the control device operating in the old version and the control device operating in the new version are not mixed. For this reason, when updating the control programs of a plurality of control devices at the same time, it is possible to prevent a situation in which a malfunction occurs in the control devices.
  • the program update system basically restarts from the point of interruption.
  • the processing unit of the gateway executes the above rollback processing, it can be restored in a short time.
  • a control device operating in the old version and a control device operating in the new version are not mixed. For this reason, when updating the control programs of a plurality of control devices at the same time, it is possible to prevent a situation in which a malfunction occurs in the control devices.
  • the management server when the management server further includes a management server connected to the gateway so as to be able to communicate outside the vehicle, the management server is a combination of versions of the control program whose operation has been confirmed.
  • a combination of a storage unit for storing a table (for example, the revision table RT in FIG. 4) to which an identification number is assigned for each and a version of the control program corresponding to one identification number is provided to a plurality of the control devices. It is preferable to include a processing unit that extracts a new version to be applied and a communication unit that notifies the gateway of a combination of the extracted new versions of the control program.
  • the processing unit of the management server extracts a combination of control program versions corresponding to one identification number (revision number) as a new version to be applied to a plurality of control devices. Then, the communication unit of the management server notifies the gateway of the new version combination of the extracted control program. For this reason, if a plurality of control devices perform an update according to the combination of new versions notified from the management server, it is possible to prevent a malfunction due to a compatibility problem or the like from occurring in the plurality of control devices. it can.
  • the program update method of the present embodiment relates to a program update method executed by a gateway included in the program update system according to any one of (1) to (4) described above. Therefore, the program update method of the present embodiment has the same effects as the program update system described in any one of (1) to (4) above.
  • the computer program of the present embodiment relates to a computer program for causing a computer to function as a gateway included in the program update system described in any one of (1) to (4) above. Therefore, the computer program of the present embodiment has the same operational effects as the program update system described in any of (1) to (4) above.
  • FIG. 1 is an overall configuration diagram of a program update system according to an embodiment of the present invention.
  • the program update system of this embodiment includes a vehicle 1, a management server 5, and a DL (download) server 6 that can communicate via a wide area communication network 2.
  • the management server 5 and the DL server 6 are operated by, for example, a car manufacturer of the vehicle 1 and can communicate with a large number of vehicles 1 owned by a user who is registered as a member in advance.
  • the vehicle 1 is equipped with a gateway 10, a plurality of ECUs 30, and various in-vehicle devices (not shown) controlled by the respective ECUs 30.
  • a communication group including a plurality of ECUs 30 that are bus-connected to a common in-vehicle communication line, and the gateway 10 relays communication between the communication groups. Therefore, a plurality of in-vehicle communication lines are connected to the gateway 10.
  • the gateway 10 is communicably connected to a wide area communication network 2 such as a mobile phone network.
  • the gateway 10 transmits information received from an external device such as the management server 5 and the DL server 6 to the ECU 30 through the wide area communication network 2.
  • the gateway 10 transmits information acquired from the ECU 30 to an external device such as the management server 5 via the wide area communication network 2.
  • FIG. 1 illustrates a case where the gateway 10 directly communicates with an external device. But it is good also as a structure which connects another communication apparatus to the gateway 10 and communicates with an external apparatus via another communication apparatus.
  • an apparatus such as a mobile phone, a smartphone, a tablet terminal, or a notebook PC (Personal Computer) owned by the user can be considered.
  • the management server 5 and the DL server 6 are configured as separate servers, but the servers 5 and 6 may be configured as a single server device.
  • FIG. 2 is a block diagram showing the internal configuration of the gateway 10.
  • the gateway 10 includes a CPU (Central Processing Unit) 11, a RAM (Random Access Memory) 12, a storage unit 13, an in-vehicle communication unit 14, and the like.
  • the gateway 10 is connected to the wireless communication unit 15 via the in-vehicle communication line, but these may be configured by a single device.
  • the CPU 11 causes the gateway 10 to function as a relay device for various information by reading one or more programs stored in the storage unit 13 into the RAM 12 and executing them.
  • the CPU 11 can execute a plurality of programs in parallel, for example, by switching and executing a plurality of programs in a time division manner.
  • the CPU 11 may represent a plurality of CPU groups. In this case, the functions realized by the CPU 11 are realized by the cooperation of a plurality of CPU groups.
  • the RAM 12 is composed of a memory element such as SRAM (Static RAM) or DRAM (Dynamic RAM), and temporarily stores programs executed by the CPU 11, data necessary for execution, and the like.
  • the computer program executed by the CPU 11 can be transferred while being recorded on a known recording medium such as a CD-ROM or DVD-ROM, or can be transferred by information transmission (downloading) from a computer device such as a server computer. You can also. The same applies to a computer program executed by a CPU 31 (see FIG. 3) of an ECU 30 described later and a computer program executed by a CPU 51 (see FIG. 4) of a management server 5 described later.
  • the storage unit 13 includes a nonvolatile memory element such as a flash memory or an EEPROM (Electrically Erasable Programmable Read Only Memory).
  • the storage unit 13 has a storage area for storing programs executed by the CPU 11, data necessary for execution, and the like.
  • the storage unit 13 also stores an update program for each ECU 30 received from the DL server 6.
  • a plurality of ECUs 30 are connected to the in-vehicle communication unit 14 via an in-vehicle communication line disposed in the vehicle 1.
  • the in-vehicle communication unit 14 is, for example, CAN (Controller Area Network), CANFD (CAN with Flexible Data Rate), LIN (Local Interconnect Network), Ethernet (registered trademark), or MOST (Media Oriented Systems Transport: MOST is a registered trademark). Communication with the ECU 30 is performed according to the standard.
  • the in-vehicle communication unit 14 transmits the information given from the CPU 11 to the target ECU 30 and gives the information received from the ECU 30 to the CPU 11.
  • the in-vehicle communication unit 14 may communicate according to other communication standards used for the in-vehicle network as well as the above communication standards.
  • the wireless communication unit 15 includes a wireless communication device including an antenna and a communication circuit that performs transmission / reception of a wireless signal from the antenna.
  • the wireless communication unit 15 can communicate with an external device by being connected to a wide area communication network 2 such as a mobile phone network.
  • the wireless communication unit 15 transmits information given from the CPU 11 to an external device such as the management server 5 via the wide area communication network 2 formed by a base station (not shown), and receives information received from the external device to the CPU 11. give.
  • a wired communication unit to which another communication device described above is connected may be employed.
  • This wired communication unit has a connector for connecting a communication device via a communication cable conforming to a standard such as USB (Universal Serial Bus) or RS232C, and communicates with another communication device connected via the communication cable. Do.
  • the wired communication unit transmits the information given from the CPU 11 to the outside device by another communication device, and gives the information received from the outside device through the wide area communication network 2 to the CPU 11.
  • FIG. 3 is a block diagram showing the internal configuration of the ECU 30.
  • the ECU 30 includes a CPU 31, a RAM 32, a storage unit 33, a communication unit 34, and the like.
  • the ECU 30 is a control device that individually controls a plurality of in-vehicle devices mounted on the vehicle 1. Examples of the ECU 30 include an engine control ECU, a steering control ECU, and a door lock control ECU.
  • the CPU 31 controls the operation of the in-vehicle device that it is in charge of by reading one or more programs stored in advance in the storage unit 33 into the RAM 32 and executing them.
  • the CPU 31 may also represent a plurality of CPU groups, and the control by the CPU 31 may be control by cooperation of a plurality of CPU groups.
  • the RAM 32 is composed of a memory element such as SRAM or DRAM, and temporarily stores programs executed by the CPU 31, data necessary for execution, and the like.
  • the storage unit 33 is configured by a nonvolatile memory element such as a flash memory or an EEPROM, or a magnetic storage device such as a hard disk.
  • the information stored in the storage unit 33 includes, for example, a computer program (hereinafter referred to as “control program”) for causing the CPU 31 to execute processing for controlling the in-vehicle device that is the control target.
  • the communication unit 34 is connected to the gateway 10 via an in-vehicle communication line disposed in the vehicle 1.
  • the communication unit 34 communicates with the gateway 10 according to a standard such as CAN, Ethernet, or MOST.
  • the communication unit 34 transmits the information given from the CPU 31 to the gateway 10 and gives the information received from the gateway 10 to the CPU 31.
  • the communication unit 34 may communicate according to other communication standards used for the in-vehicle network as well as the above communication standards.
  • the CPU 31 of the ECU 30 includes an activation unit 35 that switches the control mode by the CPU 31 to either “normal mode” or “reprogramming mode” (hereinafter also referred to as “repro mode”).
  • the normal mode is a control mode in which the CPU 31 of the ECU 30 executes original control contents (for example, engine control, steering control, etc.).
  • the reprogramming mode is a mode in which the CPU 31 is given the authority to erase and rewrite the ROM area of the control program. Only in this mode, the control program can be updated to a new version.
  • the activation unit 35 When the activation unit 35 writes the new version control program in the storage unit 33 in the reprogramming mode, the activation unit 35 restarts (resets) once, executes the verification process on the storage area in which the new version control program is written, After the process is completed, the CPU 31 is operated by the updated control program.
  • FIG. 4 is a block diagram showing the internal configuration of the management server 5.
  • the management server 5 includes a CPU 51, a ROM 52, a RAM 53, a storage unit 54, a communication unit 55, and the like.
  • the CPU 51 reads one or more programs stored in advance in the ROM 52 into the RAM 53 and executes them, thereby controlling the operation of each hardware and causing the management server 5 to function as an external device that can communicate with the gateway 10.
  • the CPU 51 may also represent a plurality of CPU groups, and the functions realized by the CPU 51 may be realized by the cooperation of a plurality of CPU groups.
  • the RAM 53 is configured by a memory element such as SRAM or DRAM, and temporarily stores programs executed by the CPU 51 and data necessary for execution.
  • the storage unit 54 includes a nonvolatile memory element such as a flash memory or an EEPROM, or a magnetic storage device such as a hard disk.
  • the communication unit 55 includes a communication device that executes communication processing in accordance with a predetermined communication standard, and is connected to the wide area communication network 2 such as a mobile phone network to execute the communication processing.
  • the communication unit 55 transmits the information given from the CPU 51 to the external device via the wide area communication network 2 and gives the information received via the wide area communication network 2 to the CPU 51.
  • a revision table RT in which the versions of the control programs are recorded is included.
  • the revision table RT summarizes the vehicle identification number (VIN) of the vehicle 1, the revision number that is identification information indicating the revision history for each vehicle identification number, and the versions of the ECUs 1 to 3 corresponding to the revision numbers. It consists of a table.
  • the versions of the control programs of the ECUs 1 to 3 included in the same revision number indicate that the operation confirmation can be taken by the car manufacturer.
  • R2.0 which is the current revision number
  • a control program for version 1.0 of ECU1 a control program for version 1.3 of ECU2
  • a control program for version 2.0 of ECU3 Has been confirmed.
  • the DL server 6 stores a plurality of update programs related to all the ECUs 30.
  • the CPU 51 When the CPU 51 is notified of the vehicle identification number and the current control program version of each of the ECUs 1 to 3 from the gateway 10, the CPU 51 updates the notified version information to the latest version of the vehicle identification number included in the revision table RT. Match. If the CPU 51 determines that the version information of the ECUs 1 to 3 notified from the gateway 10 is not the latest as a result of the verification, the CPU 51 sends the update program storage destination URL and the download request for updating to the latest version to the gateway 10. Send to.
  • FIG. 5 is a sequence diagram showing an example of simultaneous update of control programs for the plurality of ECUs 1 to 3 executed in the program update system of the present embodiment.
  • the control programs of the ECUs 1 to 3 are updated as follows in accordance with the revision table RT of FIG. Revision number: R2.0 ⁇ R2.4
  • ECU1 Version 1.0-> Version 1.2
  • ECU2 version 1.3
  • version 2.0 Version 2.0 ⁇ Version 2.2
  • the update program may be the program of the new version, but in the present embodiment, it is assumed that the update program is a differential program from the old version. In this case, if ⁇ including the difference information of the file between the old version and the new version is in the same storage area, it can be updated to the new version by applying ⁇ to the old version.
  • the update program from version 1.0 of ECU 1 to version 1.2 is set to “ ⁇ 1”
  • the update program from version 1.3 to version 2.0 of ECU 2 is set to “ ⁇ 2”.
  • An update program from 2.0 to version 2.2 is set to “ ⁇ 3”.
  • the gateway 10 collects the current version information of the control programs of the ECUs 1 to 3 (step S1).
  • the current version of the control program of the ECU 1 is “1.0”
  • the current version of the control program of the ECU 2 is “1.3”
  • the current version of the control program of the ECU 3 is “2”. .0 ".
  • the gateway 10 transmits the collected version information of the control programs of the ECUs 1 to 3 and the vehicle identification number (VIN) of the host vehicle to the management server 5 (step S2).
  • the management server 5 searches the above-described revision table RT (see FIG. 4) based on the version information notified from the gateway 10 and the vehicle identification number, so that each ECU 1 to 3 of the vehicle 1 It is determined whether it is necessary to update the control program at the same time.
  • the management server 5 since the ECU 1 is version 1.0, the ECU 2 is version 1.3, and the ECU 3 is version 2.0, the management server 5 is operating the vehicle 1 at revision R2.0. Judge that there is. Further, since the latest revision R2.4 exists, the management server 5 updates the ECU 1 to the version 1.2, updates the ECU 2 to the version 2.0, and updates the ECU 3 to the version 2. It is determined that the update to 2 needs to be performed simultaneously.
  • the management server 5 sends the storage destination URLs and download requests for the update programs ⁇ 1 to ⁇ 3 of the ECUs 1 to 3 to the gateway 10 that has transmitted the version information to the gateway 10 (step S3).
  • the gateway 10 downloads update programs ⁇ 1 to ⁇ 3 for the ECUs 1 to 3 from the DL server 6 (step S4).
  • the gateway 10 temporarily stores and stores the received update programs ⁇ 1 to ⁇ 3 in the storage unit 13 of its own device.
  • the gateway 10 transmits to the management server 5 that the DL has been normally completed (step S5).
  • the management server 5 that has received the DL completion notification transmits a control program update request to the gateway 10.
  • the control program update request may be transmitted to the gateway 10 after being temporarily interrupted and receiving an update request from the outside (step S6).
  • the gateway 10 transmits a repro mode transition request to each of the ECUs 1 to 3 to update the control program using the update programs ⁇ 1 to ⁇ 3 stored in the storage unit 13 (step S7).
  • each ECU 1 to 3 When receiving the repro mode transition request, each ECU 1 to 3 switches its control mode from the normal mode to the reprogramming mode. As a result, each of the ECUs 1 to 3 is ready to develop the update programs ⁇ 1 to ⁇ 3 and to rewrite the current control program to the new version control program.
  • the gateway 10 transmits the update program ⁇ 1 stored in the storage unit 13 to the ECU 1 (step S8).
  • the ECU 1 develops the received update program ⁇ 1 and applies it to the old version 1.0, thereby rewriting the control program from the old version 1.0 to the new version 1.2.
  • the ECU 1 transmits a rewriting completion notification to the gateway 10 (step S9).
  • the gateway 10 transmits the update program ⁇ 2 stored in the storage unit 13 to the ECU 2 (step S10).
  • the ECU 2 rewrites the control program from the old version 1.3 to the new version 2.0 by developing the received update program ⁇ 2 and applying it to the old version 1.3.
  • the ECU 2 transmits a rewriting completion notification to the gateway 10 (step S11).
  • the gateway 10 transmits the update program ⁇ 3 stored in the storage unit 13 to the ECU 3 (step S12).
  • the ECU 3 rewrites the received update program ⁇ 3 and applies it to the old version 2.0, thereby rewriting the control program from the old version 2.0 to the new version 2.2.
  • the ECU 3 transmits a rewriting completion notification to the gateway 10 (step S13).
  • step S8 to step S13 is expressed in time series. However, since these processing are performed in parallel, the order before and after may be switched.
  • the gateway 10 When the gateway 10 receives the rewriting completion notifications from all the ECUs 1 to 3, the gateway 10 transmits a normal mode transition request and a reset request to each of the ECUs 1 to 3 (step S14). Receiving the normal mode transition request, each of the ECUs 1 to 3 switches its control mode from the repro mode to the normal mode, and restarts the system in response to the reset request. As a result, each of the ECUs 1 to 3 operates according to the new version control program.
  • the gateway 10 receives the rewrite completion notification from all the ECUs 1 to 3, it transmits the update completion notification to the management server 5 (step S15).
  • the management server 5 detects that the update of the control program has been completed for each of the ECUs 1 to 3 of the vehicle 1.
  • FIG. 6 is a state transition diagram (state A to state E) showing a control program rewriting process executed by an ECU 30 (hereinafter referred to as “multiple area ECU”) having a plurality (two in the illustrated example) of operation areas of the control program. Transition diagram).
  • FIG. 6 illustrates the case where the version of the control program of the ECU 30 is updated from “1.0” to “1.2”, but the rewriting process similar to the following is executed for other version numbers as well.
  • the storage unit 33 of the ECU 30 is divided into two main areas 1 and 2 in which the control program can operate, and one work space in which the update program ⁇ 1 is stored.
  • the activation unit 35 of the ECU 30 can select the operation area of the control program as one of the main areas 1 and 2 at the time of activation.
  • the main area 1 is selected as the operation area in the normal mode before the program update.
  • the hatched area in FIG. 6 indicates an active area where the control program is executed.
  • the activation unit 35 When the activation unit 35 receives the update program ⁇ 1 from the gateway 10 in the reprogramming mode, the activation unit 35 stores the update program ⁇ 1 in the workspace and creates a backup of the control program of the old version 1.0 in the main area 2 (state) A). Next, the activation unit 35 expands the update program ⁇ 1 and applies it to the backup of version 1.0 of the main area 2 (state B), and the control program for the main area 2 is changed from version 1.0 to version 1. .2 is rewritten (state C).
  • the activation unit 35 controls the version 1.2 stored in the main area 2 after switching the operation area to the main area 2 and executing the verify process of the main area 2 (state D).
  • the CPU 31 is operated by a program (state E).
  • the activation unit 35 switches the operation area at the time of activation in the normal mode to the main area 2 and transmits a rewriting completion notification to the gateway 10.
  • FIG. 7 is an explanatory diagram of a rollback process executed by the gateway 10 for the multi-region ECU 30.
  • the boxes arranged vertically and horizontally indicate the transition of the memory states R1 to R5 over time in the storage units 33 of the ECUs 1 to 3.
  • the upper part of each box corresponds to “main area 1” in FIG. 6, and the lower part corresponds to “main area 2” in FIG.
  • Time t progresses downward.
  • Time t0 is the time when the gateway 10 transmits the repro mode transition request S7.
  • Time t9 is the time of reception of the completion notification S9 by the gateway 10
  • time t11 is the time of reception of the completion notification S11 by the gateway 10
  • time t13 is the time of reception of the completion notification S13 by the gateway 10.
  • the memory state R1 shows a state in which a backup of the old version is created in the main area 2 after each of the ECUs 1 to 3 receives the repro mode transition request S7.
  • the old version control program is stored in both the main areas 1 and 2.
  • the memory state R2 indicates a state in which each of the ECUs 1 to 3 is executing the rewriting process for the main area 2.
  • the memory state R3 indicates a state in which the ECU 1 completes the rewriting of the main area 2 and transmits a completion notification S9, and the ECUs 2 and 3 are still executing the rewriting process.
  • the memory state R4 indicates a state in which the ECU 2 completes the rewriting of the main area 2 and transmits a completion notification S11, and the ECU 3 is still executing the rewriting process.
  • the memory state R5 indicates a state in which the ECU 3 completes the rewriting of the main area 2 and transmits a completion notification S13, and all the ECUs 1 to 3 are rewritten to the new version.
  • the gateway 10 resends the repro mode transition request S7 to all the ECUs 1 to 3 after the above-described failure has been eliminated. This is a rollback process. Thereby, not only the ECUs 2 and 3 that are being rewritten but also the rewritten process from the initial memory state R1 to the new version is executed again for the ECU1 that has been rewritten.
  • the gateway 10 does not detect during the period of t9 ⁇ t ⁇ t11 but also during the period of t0 ⁇ t ⁇ t9 or t11 ⁇ t ⁇ t13, even when the interruption time tp due to a failure such as a power failure is detected.
  • a similar rollback process is executed. That is, when the gateway 10 detects a failure that hinders writing of the control program from the transmission time t0 of the repro mode transition request S7 until the reception of all completion notifications S9, S11, S13 is detected, the gateway 10 rolls. Perform back processing.
  • the rollback process is executed to cause all the ECUs 1 to 3 to perform the update again. Accordingly, when the rewriting process in any of the ECUs 1 to 3 is interrupted during the simultaneous update of the plurality of area ECUs 1 to 3, all the ECUs 1 to 3 can be returned to the current old version whose operation is guaranteed.
  • FIG. 8 is a state transition diagram (transition diagram of state A to state E) showing the rewriting process of the control program executed by the ECU 30 having one operation region of the control program (hereinafter referred to as “single region ECU”). .
  • FIG. 8 illustrates the case where the version of the control program of the ECU 30 is updated from “1.0” to “1.2”, but the rewriting process similar to the following is executed for other version numbers as well.
  • the storage unit 33 of the ECU 30 is divided into one main area 1 in which the control program can operate and one work space in which the update program ⁇ 1 is stored.
  • the activation unit 35 switches the update flag to ON and stores the update program ⁇ 1 in the workspace (state A).
  • the activation unit 35 expands the update program ⁇ 1 and applies the update program ⁇ 1 to the backup program of version 1.0 of the main area 1, and changes the control program of the main area 1 from version 1.0 to version 1.2.
  • Rewrite state B.
  • the workspace is provided with a writing status recording unit.
  • the activation unit 35 When the above rewriting is completed, the activation unit 35 turns off the update flag, executes the verification process of the rewritten main area 1 (state C), and stores the version 1.2 stored in the main area 1.
  • the CPU 31 is operated by the control program (state D).
  • the activation unit 35 transmits a rewriting completion notification to the gateway 10.
  • FIG. 9 is a flowchart showing an example of the update return process executed by the gateway 10 for the single area ECU 30.
  • the update recovery process in FIG. 9 is executed by the gateway 10 when a failure such as a power failure occurs during the simultaneous update of the plurality of single areas ECUs 1 to 3 and then the recovery from the failure occurs.
  • the gateway 10 first determines whether or not the ECUs 1 to 3 in the reprogramming mode exist (step ST1). If the determination result in step ST1 is negative, the gateway 10 transmits an update completion notification to the management server 5 (step ST5). If the determination result in step ST1 is affirmative, the gateway 10 determines whether or not there is an update completion notification for each of the ECUs 1 to 3 (step ST2).
  • step ST2 determines whether or not there is an interruption point P due to the occurrence of a failure (step ST6). If the determination result in step ST2 is affirmative, the gateway 10 determines whether or not the checks for all ECUs 1 to 3 have been completed (step ST3).
  • step ST6 determines whether the gateway 10 is receiving the ECUs 1 to 3 or not. If the determination result in step ST6 is negative, the gateway 10 instructs the ECUs 1 to 3 to start reprogramming from the start time of the memory area (step ST6). If the determination result in step ST6 is affirmative, the gateway 10 instructs the ECUs 1 to 3 that have been interrupted to resume writing the new version from the previous interruption point P (step ST7). .
  • step ST3 When the determination result of step ST3 is negative, the gateway 10 returns to before step ST2 and repeats the process. If the determination result in step ST3 is affirmative, the gateway 10 transmits a normal mode transition request and a reset request to each of the ECUs 1 to 3, and then transmits an update completion notification to the management server 5 (step ST5).
  • the gateway 10 searches for the ECUs 1 to 3 that interrupted the rewriting of the new version after returning from the failure (steps ST1, ST2, and ST6).
  • An instruction to resume rewriting the new version from P is given (step ST7).
  • update return processing also continues to update the control program to the ECUs 1 to 3 until all the ECUs 1 to 3 that need to be updated simultaneously complete the update of the control program using the update programs ⁇ 1 to ⁇ 3. This is a kind of “update continuation process”.

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