WO2017203904A1 - Unité de commande électronique, procédé de génération de trame et programme - Google Patents

Unité de commande électronique, procédé de génération de trame et programme Download PDF

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Publication number
WO2017203904A1
WO2017203904A1 PCT/JP2017/015816 JP2017015816W WO2017203904A1 WO 2017203904 A1 WO2017203904 A1 WO 2017203904A1 JP 2017015816 W JP2017015816 W JP 2017015816W WO 2017203904 A1 WO2017203904 A1 WO 2017203904A1
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WIPO (PCT)
Prior art keywords
message
information
type frame
network
ecu
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PCT/JP2017/015816
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English (en)
Japanese (ja)
Inventor
前田　学
芳賀　智之
崇光 佐々木
松島　秀樹
Original Assignee
パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ
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.)
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Priority claimed from JP2017046566A external-priority patent/JP6890025B2/ja
Application filed by パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ filed Critical パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ
Priority to EP21173499.1A priority Critical patent/EP3907936B1/fr
Priority to CN201780004574.8A priority patent/CN108370336B/zh
Priority to EP20165255.9A priority patent/EP3691196B1/fr
Priority to EP17802502.9A priority patent/EP3468104B1/fr
Publication of WO2017203904A1 publication Critical patent/WO2017203904A1/fr
Priority to US16/166,361 priority patent/US10601607B2/en
Priority to US16/785,040 priority patent/US11012255B2/en
Priority to US17/233,088 priority patent/US11463275B2/en

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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]
    • H04L12/2803—Home automation networks
    • H04L12/283—Processing of data at an internetworking point of a home automation network
    • H04L12/2836—Protocol conversion between an external network and a home network

Definitions

  • This disclosure relates to a message processing technique of an electronic control unit that communicates with an in-vehicle network.
  • ECUs electronice control units
  • a network connecting these ECUs is called an in-vehicle network.
  • CAN Controller Area Network
  • ISO11898-1 CAN Controller Area Network
  • each ECU (node) connected to a bus that is a wired transmission path (communication path) transmits and receives a frame (message).
  • the transmission node transmits an ID (CAN-ID) for each frame (that is, sends a signal to the bus), and each reception node is predetermined.
  • CAN-ID Controller Area Network
  • Ethernet registered trademark
  • IEEE 802.3 A frame (message) of Ethernet (registered trademark) includes information indicating a transmission destination and a transmission source in a header. In Ethernet (registered trademark), the maximum amount of data that can be transmitted in one frame is larger than CAN.
  • Patent Document 1 describes a gateway that relays a message between a device conforming to the CAN protocol and a device conforming to the Ethernet (registered trademark) protocol.
  • each electronic control unit (ECU) that communicates with another electronic control unit is at least one of Ethernet (registered trademark) and CAN.
  • An interface will be provided. In this case, it is necessary to communicate with an electronic control unit having an Ethernet (registered trademark) interface, and also to communicate with an electronic control unit connected to a CAN bus (that is, an electronic control unit having a CAN interface). If each electronic control unit has both interfaces, there is a problem such as an increase in cost. For this reason, for example, it is desirable that an electronic control unit having only an Ethernet (registered trademark) interface can transmit information to an electronic control unit connected to a CAN bus via a gateway or the like.
  • an electronic control unit (hereinafter also referred to as “E-ECU”) having an Ethernet (registered trademark) interface is connected to a CAN bus (hereinafter referred to as “C-ECU”). Does not indicate how the message to be communicated should be structured and transmitted.
  • the present disclosure provides a frame suitable for transmitting information to an electronic control unit having an interface of a first network such as Ethernet (registered trademark) and connected to a bus of a second network such as CAN.
  • An electronic control unit capable of transmitting (message) is provided.
  • the present disclosure also provides a frame generation method for generating a frame suitable for transmitting information to the second network, and a program used for the electronic control unit.
  • an electronic control unit includes a first network in which transmission of a first type frame is performed according to a first communication protocol, and a second communication protocol different from the first communication protocol.
  • An electronic control unit connected to the first network in an in-vehicle network system including a second network in which transmission of the second type frame is performed on the bus, and a generation unit that generates the first type frame according to the first communication protocol;
  • a transmission unit that transmits the first type frame generated by the generation unit to the first network, and the generation unit includes first information serving as a basis of the second type frame to be transmitted to the second network;
  • Second type information indicating that the first type frame includes information to be transmitted to the second network. It is included in the beam, an electronic control unit for the generation of the first type frames.
  • a frame generation method includes a first network in which transmission of a first type frame is performed according to a first communication protocol, and a second communication different from the first communication protocol.
  • a frame generation method in which an electronic control unit connected to a first network generates a frame to be transmitted in an in-vehicle network system including a second network in which a second type frame is transmitted by a bus according to a protocol, First information serving as a basis of the second type frame to be transmitted to the network and second information indicating that the first type frame includes information to be transmitted to the second network are included in the first type frame.
  • a frame generation method for generating the first type frame according to the first communication protocol so as to be included.
  • a program includes a first network that transmits a first type frame according to a first communication protocol, and a second communication protocol that is different from the first communication protocol.
  • the predetermined information processing includes a generation step of generating a first type frame according to a first communication protocol, and a transmission step of transmitting the first type frame generated in the generation step to a first network.
  • the basis of the second type frame to be transmitted to the second network The first type frame is generated by including the first information and the second information indicating that the first type frame includes information to be transmitted to the second network in the first type frame. It is a program.
  • an electronic control unit (E-ECU) connected to an Ethernet (registered trademark) network transmits information to an electronic control unit (C-ECU) connected to a CAN bus. It becomes possible to perform appropriately through the Ethernet (registered trademark) network.
  • FIG. 1 is a diagram illustrating an overall configuration of an in-vehicle network system according to Embodiment 1.
  • FIG. It is a figure which shows schematic structure of the vehicle-mounted network which concerns on Embodiment 1.
  • FIG. 3 is a diagram illustrating a format of an Ethernet (registered trademark) frame (also referred to as an “E message”) transmitted and received in a part of the in-vehicle network according to Embodiment 1.
  • FIG. It is a figure which shows an example of the structure of the payload of E message (structure containing one CAN message information). It is a figure which shows an example of the structure of the payload of E message (structure containing several CAN message information). It is a figure which shows the format of the data frame prescribed
  • FIG. 1 is a configuration diagram of an electronic control unit (E-ECU) according to Embodiment 1.
  • FIG. 6 is a diagram showing an example of a destination table used in the E-ECU according to Embodiment 1.
  • FIG. 1 is a configuration diagram of a network hub (HUB) according to Embodiment 1.
  • FIG. 6 is a diagram illustrating an example of a MAC (Media Access Control) address table used in the HUB according to Embodiment 1.
  • FIG. 3 is a flowchart showing an example of the operation of the E-ECU according to the first embodiment.
  • FIG. It is a figure which shows schematic structure of the vehicle-mounted network which concerns on Embodiment 2.
  • FIG. It is a block diagram of HUB concerning Embodiment 2.
  • FIG. 6 is a configuration diagram of a conversion apparatus according to Embodiment 2.
  • FIG. It is a figure which shows schematic structure of the vehicle-mounted network which concerns on Embodiment 3.
  • FIG. It is a block diagram of HUB concerning Embodiment 3.
  • FIG. It is a figure which shows an example of the destination table used by HUB which concerns on Embodiment 3.
  • FIG. It is a block diagram of HUB which concerns on Embodiment 4.
  • FIG. 14 is a flowchart showing an example of the operation of the E-ECU according to the fourth embodiment.
  • FIG. 10 is a flowchart illustrating an example of the operation of the HUB according to the fourth embodiment.
  • FIG. 16 is a diagram showing an example of a destination table used in the E-ECU according to the fifth embodiment.
  • FIG. 10 is a diagram showing an example of a correspondence table used in HUBs according to Embodiment 5 in which MAC addresses are associated with CAN-IDs.
  • 10 is a flowchart showing an example of the operation of the HUB according to the fifth embodiment. It is a figure which shows the modification of a structure of the payload of E message. It is a figure which shows an example of the corresponding
  • An electronic control unit includes a first network in which transmission of a first type frame is performed according to a first communication protocol, and a second bus according to a second communication protocol different from the first communication protocol.
  • An electronic control unit connected to the first network in an in-vehicle network system including a second network in which a seed frame is transmitted, the generating unit generating a first type frame according to a first communication protocol, and the generating unit
  • a transmission unit that transmits the first type frame generated by the first network to the first network, and the generation unit includes first information serving as a basis of the second type frame to be transmitted to the second network, and the first type. Second information indicating that the frame includes information to be transmitted to the second network is included in the first type frame.
  • An electronic control unit for the generation of the first type frames As a result, the ECU (for example, E-ECU) connected to the first network such as Ethernet (registered trademark) is informed to the ECU (for example, C-ECU) connected to the bus of the second network such as CAN. Can be appropriately transmitted via the first network.
  • the ECU for example, E-ECU
  • an appropriate route is selected by, for example, the next network hub (HUB), and the ECU (for example, C--) is connected to the bus of the second network.
  • This HUB is, for example, a HUB used in a network system including a first network and a second network.
  • the HUB includes a receiving unit that receives a first type frame, and a first type frame received by the receiving unit. It is determined whether or not the first information that is the basis of the second type frame to be transmitted to the second network is included, and a port that transmits a frame based on the first type frame is selected based on the determination result. Transmission for sending a frame based on the first type frame to a transfer destination selection unit and a wired transmission path connected to the port selected by the transfer destination selection unit for the first type frame received by the receiving unit A part.
  • the electronic control unit includes a receiving unit that receives external information from outside the electronic control unit, and the generation unit includes the first information generated based on the external information in a first case, Generating a first type frame including the second information, including information generated based on the external information in the second case, and generating a first type frame including information opposite to the second information. Also good.
  • the ECU transmits either the first type frame to be transmitted to the ECU connected to the first network or the first type frame to be transmitted to the ECU connected to the second network. , HUB etc., can be distinguished appropriately. For this reason, in any case, the first type frame can be appropriately transmitted to the target ECU.
  • the first communication protocol is an Ethernet (registered trademark) protocol
  • the second communication protocol is a CAN (Controller-Area-Network) protocol
  • the first type frame is an Ethernet (registered trademark) header and a payload.
  • the second type frame is a data frame including a data field
  • the first information indicates a content of the data field
  • the generation unit includes the first type frame.
  • the first information may be included in the payload in the frame.
  • an E-ECU having only an Ethernet (registered trademark) interface can appropriately transmit information to a C-ECU connected to the CAN bus.
  • the generation unit identifies whether or not the first type frame includes information to be transmitted to the second network in the first type frame.
  • the identification flag in the first type frame may be set to a value indicating the second information.
  • the generation unit may arrange the identification flag in the payload in the generation of the first type frame. Thereby, the identification flag can be arranged in the first type frame without affecting the header of the first type frame.
  • the generation unit uses the second information as a destination MAC address in the Ethernet (registered trademark) header in the first type frame.
  • a specific value determined as shown may be included.
  • the Ethernet (registered trademark) header can be effectively used, and for example, the amount of payload data can be reduced.
  • the second type frame may include an ID field, a DLC (Data Length Code), and the data field, and the first information may indicate values of the ID field, the DLC, and the data field.
  • the ECU can transmit the main information of the CAN message (that is, the data frame related to CAN) in the first type frame. Therefore, if a relay device such as a HUB that transmits a CAN message based on the first type frame is assumed, transmission of an arbitrary CAN message to the C-ECU that is the transmission destination of information can be realized.
  • the first information includes values of the ID field, the DLC, and the data field of each of a plurality of second type frames to be transmitted to the second network, and a value indicating the number of the plurality of second type frames. It is good also as showing. As a result, it is possible to improve transmission efficiency when information is transmitted from the E-ECU to the C-ECU.
  • the generation unit when the generation unit generates the first type frame including the first information, whether the destination MAC address in the Ethernet (registered trademark) header in the first type frame is a global MAC address or not.
  • the second information is indicated by setting the value of the bit identifying whether or not to a value that is not a global MAC address, and the destination MAC address includes third information indicating a part of the content of the second type frame. Also good.
  • CAN-ID or the like can be included as the destination MAC address of the header of the first type frame, and the amount of payload data can be reduced.
  • the frame generation method includes a first network in which transmission of a first type frame is performed according to a first communication protocol, and a second type by a bus according to a second communication protocol different from the first communication protocol.
  • the first information that is the basis of the second type frame and the second information that indicates that the first type frame includes information to be transmitted to the second network are included in the first type frame.
  • This is a frame generation method for generating the first type frame according to a communication protocol.
  • an ECU for example, E-ECU
  • an ECU for example, C-ECU
  • a program includes a first network in which transmission of a first type frame is performed according to a first communication protocol, and a second type frame on a bus according to a second communication protocol different from the first communication protocol.
  • the first information that is the basis of the second type frame to be Arm is a second information indicating that it contains the information to be transmitted to the second network, be included in the first type frames, a program for the generation of the first type frames.
  • this program is installed and executed in an ECU connected to the first network and having a processor, the ECU transmits information to an ECU (for example, a C-ECU) connected to the bus of the second network. Can be properly communicated.
  • an in-vehicle network system 10 including a plurality of electronic control units (E-ECUs) for exchanging Ethernet (registered trademark) frames (E messages) according to an Ethernet (registered trademark) protocol will be described. Will be described.
  • the in-vehicle network system 10 also includes a plurality of electronic control units (C-ECUs) that exchange data frames (CAN messages) and the like via a bus according to the CAN protocol.
  • FIG. 1 shows an overall configuration of an in-vehicle network system 10 according to the first embodiment.
  • the in-vehicle network system 10 is a network communication system in a vehicle on which various devices such as a control device, a sensor, an actuator, and a user interface device are mounted.
  • the in-vehicle network system 10 includes, as an in-vehicle network, a first network (Ethernet (registered trademark) network) in which an Ethernet (registered trademark) frame (E message) is transmitted according to the Ethernet (registered trademark) protocol, and a bus according to the CAN protocol. And a second network (CAN network) through which data frames (CAN messages) are transmitted.
  • the in-vehicle network system 10 includes a network hub (HUB) 100, electronic control units (E-ECUs) 200a to 200c, a CAN gateway 400, and electronic control units (C-ECUs) 500a to 500d.
  • Various devices (communication module 300a, rear camera 300b, radar 300c, engine 600a, brake 600b, door opening / closing sensor 600c, and window opening / closing sensor 600d) connected to each electronic control unit (E-ECU, C-ECU); , Cables (Ethernet (registered trademark) cables) 20a to 20c and buses (CAN buses) 30a to 30c.
  • the Ethernet (registered trademark) cables 20a to 20c are transmission lines of the first network
  • the buses 30a to 30c are transmission lines of the second network.
  • the in-vehicle network system 10 can include a number of ECUs other than the E-ECUs 200a to 200c and the C-ECUs 500a to 500d.
  • a C-ECU (not shown) can be connected to the buses 30a to 30c in addition to the C-ECUs 500a to 500d.
  • ECUs are devices including, for example, a processor (microprocessor), a digital circuit such as a memory, an analog circuit, a communication circuit, and the like.
  • the memory is a ROM, a RAM, or the like, and can store a program (computer program as software) executed by the processor.
  • the memory may include a non-volatile memory.
  • the processor operates according to a program (computer program)
  • the ECU realizes various functions.
  • the computer program is configured by combining a plurality of instruction codes indicating instructions for the processor in order to achieve a predetermined function.
  • C-ECUs 500a to 500d exchange frames according to the CAN protocol.
  • the C-ECUs 500a to 500d are connected to devices such as the engine 600a, the brake 600b, the door opening / closing sensor 600c, and the window opening / closing sensor 600d, respectively, and acquire the state of the devices, for example, periodically, a data frame representing the state.
  • devices such as the engine 600a, the brake 600b, the door opening / closing sensor 600c, and the window opening / closing sensor 600d, respectively, and acquire the state of the devices, for example, periodically, a data frame representing the state.
  • the C-ECUs 500a to 500d receive data frames from the buses constituting the second network, interpret the data frames, determine whether the data frames have CAN-IDs to be received, and Accordingly, the device connected to the C-ECU can be controlled according to the data in the data frame (the contents of the data field), and a data frame can be generated and transmitted as necessary.
  • CAN gateway 400 is a kind of ECU as a gateway (relay device or the like) connected to buses 30a to 30c.
  • the CAN gateway 400 has a function of transferring a data frame received from one bus to the other bus.
  • the E-ECUs 200a to 200c have an Ethernet (registered trademark) interface and are connected to an Ethernet (registered trademark) cable.
  • the E-ECUs 200a to 200c transmit or receive Ethernet (registered trademark) frames (E messages) according to the Ethernet (registered trademark) protocol.
  • the E-ECUs 200a to 200c are connected to devices such as the communication module 300a, the rear camera 300b, and the radar 300c, respectively, perform processing based on information acquired from the devices, and control the devices as necessary. In response to this, information can be transmitted to other ECUs.
  • the communication module 300a is a device having a function of communicating with a server 90 outside the vehicle via an external network 91 such as the Internet.
  • the server 90 is a computer having a function of providing information to the ECU of the vehicle, for example.
  • the HUB 100 is an Ethernet (registered trademark) switch (switching hub) connected to the E-ECUs 200a to 200c.
  • the HUB 100 is also connected to the bus 30c and has a function of transferring a frame (message) between the first network and the second network.
  • the HUB 100 includes, for example, a digital circuit such as a memory, an analog circuit, a communication circuit, and the like, and may include a processor.
  • FIG. 2 shows a schematic configuration of the in-vehicle network according to the present embodiment.
  • the E-ECUs 200a to 200c can communicate with each other via the first network configured by connecting the cables with the HUB 100.
  • the C-ECUs 500a to 500d can communicate with each other via a second network including the buses 30a and 30b, the CAN gateway 400, and the like.
  • the E-ECU 200a can communicate with the C-ECU 500a via the cable 20a, the HUB 100, the bus 30c, the CAN gateway 400, and the bus 30a.
  • the HUB 100 includes a plurality of ports (that is, terminals for connecting an Ethernet (registered trademark) cable) for connection to the E-ECU.
  • the HUB 100 includes one port (CAN port) for connecting to the bus 30c connected to the CAN gateway 400.
  • FIG. 3 shows a format of a frame (E message) transmitted / received in the first network.
  • the E message is configured by adding a header (Ethernet (registered trademark) header) in front of a payload for storing data which is the main transmission content.
  • the header includes a destination MAC address, a source MAC address, and a type.
  • the E-ECU in the in-vehicle network system 10 transmits an E message including CAN message information when transmitting information to be transmitted to the C-ECU.
  • the CAN message information is information that is the basis of a data frame (CAN message) transmitted through the CAN bus.
  • FIG. 4 and FIG. 5 show data configuration examples in the payload of the E message shown in FIG.
  • FIG. 4 shows an example in which only one CAN message information is included in the payload of the E message.
  • FIG. 5 shows an example in which a plurality of CAN message information can be included in the payload of the E message.
  • the CAN message information includes a CAN-ID, a size, and data in the examples of FIGS.
  • the number of messages in FIG. 5 indicates the number of CAN message information. Instead of the number of messages, information indicating the entire data amount of the CAN message information may be used.
  • the CAN flag is an identification flag for identifying whether or not the E message includes information to be transmitted to the second network. When the CAN message information is included in the payload of the E message (that is, the destination of the E message) This flag is turned on when the ECU is a C-ECU) and is turned off in other cases (that is, a value indicating information contrary to ON).
  • FIG. 4 and 5 show an example in which the CAN flag is arranged at the head of the payload of the E message, but this is only an example.
  • a description will be given mainly assuming that a plurality of CAN message information as shown in FIG. 5 can be included in the payload of the E message. Thereby, for example, transmission efficiency can be increased.
  • the content of the payload of the E message includes CAN message information. There is no need.
  • the destination of the E message can only be distinguished by the CAN flag, for example, the E-ECU, for example, the CAN flag in the payload of the E message that does not need to be transmitted to the C-ECU. (See FIGS. 4 and 5) is turned OFF.
  • the C-ECUs 500a to 500d and the like exchange frames according to the CAN protocol.
  • Frames in the CAN protocol include a data frame, a remote frame, an overload frame, and an error frame.
  • description will be given mainly focusing on the data frame.
  • FIG. 6 shows a format of a data frame (CAN message) transmitted / received in the second network.
  • the data frame includes SOF (Start Of Frame), ID (CAN-ID), RTR (Remote Transmission Request), IDE (Identifier Extension), reserved bit “r”, size, data, CRC ( (Cyclic Redundancy Check) sequence, CRC delimiter “DEL”, ACK (Acknowledgement) slot, ACK delimiter “DEL”, and EOF (End Of Frame).
  • ID (CAN-ID) as the contents of the ID field is an identifier indicating the type of data, and is also referred to as a message ID.
  • CAN When a plurality of nodes start transmission at the same time, communication arbitration is performed by giving priority to a frame having a small CAN-ID.
  • the size is DLC (Data Length Code) indicating the length of the subsequent data field (data).
  • the data specification is not defined by the CAN protocol, but is defined by the in-vehicle network system 10. Therefore, the specification can depend on the vehicle model, manufacturer (manufacturer), and the like.
  • FIG. 7 is a configuration diagram of the E-ECU 200a.
  • the E-ECU 200a includes a receiving unit 210, a generating unit 220, and a transmitting unit 230. Each of these components is realized by a communication circuit in the E-ECU 200a, a processor that executes a program stored in a memory, a digital circuit, or the like.
  • the receiving unit 210 receives external information, that is, information from outside the E-ECU 200a.
  • the receiving unit 210 includes an E receiving unit 211 and a data receiving unit 212.
  • the E receiver 211 receives a frame (E message) via the cable 20a.
  • the data receiving unit 212 receives data from the connected device (communication module 300a).
  • the generation unit 220 generates an E message according to the Ethernet (registered trademark) protocol.
  • the generation unit 220 includes a data processing unit 221, a transmission destination determination unit 222, a message construction unit 223, and a CAN message construction unit 224.
  • the data processing unit 221 performs information processing (calculation, etc.) based on external information (data or E message) received by one or both of the E receiving unit 211 and the data receiving unit 212 and transmits the information to other ECUs.
  • Various information to be generated is generated.
  • the data processing unit 221 may use external information itself as the generated various information.
  • the information processing by the data processing unit 221 may have any content, and the data processing unit 221 may generate any information.
  • the various types of information generated by the data processing unit 221 are, for example, information for driving control of the vehicle, information for presenting to the user of the vehicle, etc., for example, steering instruction angle, speed instruction value, current speed value, communication It is classified into a plurality of types (data types) such as information.
  • the transmission destination determination unit 222 determines the transmission destination using, for example, a destination table according to the data type of the information generated by the data processing unit 221.
  • FIG. 8 illustrates an example of a destination table used by the transmission destination determination unit 222.
  • the destination table shown in the figure corresponds to the destination MAC address (or CAN-ID) and the destination type indicating whether the information destination ECU is the E-ECU or C-ECU for each data type of information. It is a table attached. If the transmission destination determination unit 222 determines that the transmission destination of the information generated by the data processing unit 221 is the C-ECU, the transmission destination determination unit 222 determines a CAN-ID based on the destination table and notifies the CAN message construction unit 224 of the CAN-ID. .
  • the transmission destination determination unit 222 determines a destination MAC address that is a transmission destination of the information generated by the data processing unit 221 using the destination table, and notifies the message construction unit 223 of the destination MAC address. Note that if the transmission destination is a plurality of E-ECUs, the transmission destination determination unit 222 notifies the message construction unit 223 of the destination MAC address for each transmission destination. If the transmission destination determination unit 222 determines that the transmission destination is the C-ECU, the transmission destination determination unit 222 notifies the message construction unit 224 of a predetermined specific address as the destination MAC address. Examples of the specific address include a broadcast address, a multicast address, and a MAC address of a device (converter) having a protocol conversion function.
  • the HUB 100 does not need to have a MAC address, but may have a MAC address, and when the HUB 100 has a MAC address, the MAC address may be the above-described specific address.
  • the CAN message construction unit 224 generates CAN message information indicating the notified CAN-ID, data indicating the information generated by the data processing unit 221 and the size of the data. For example, when the data indicating the information generated by the data processing unit 221 exceeds the maximum data length of the CAN message, the CAN message constructing unit 224 divides the data indicating the information, thereby obtaining a plurality of CAN message information. Is generated.
  • the CAN message information generated by the CAN message construction unit 224 is arranged in the E message by the message construction unit 223, and the E message is transmitted by the transmission unit 230.
  • the CAN message information generated by the CAN message construction unit 224 may have any other content and format as long as it includes at least information indicating the CAN message data (data field data field content). For example, FIG. It is useful to configure the CAN message information to include the indicated CAN-ID, size, and data with a bit length according to the CAN protocol. Further, in the process of transmitting the E message including the CAN message information to be transmitted to the C-ECU, in order to be able to efficiently convert it into a CAN message by a device such as the HUB 100, for example, in the CAN message construction unit 224, It is useful to construct the CAN message information to conform to the format of the CAN message according to the CAN protocol.
  • the message construction unit 223 constructs an E message for each destination MAC address notified to the transmission destination determination unit 222 by including the destination MAC address and the MAC address of the E-ECU 200a as the transmission source MAC address in the header. (See FIG. 3). For example, if the transmission destination is a C-ECU, the message construction unit 223 includes an ON CAN flag, the number of CAN message information constructed by the CAN message construction unit 224, and each CAN. Message information (see FIG. 5). For example, if the transmission destination is an E-ECU, the message construction unit 223 includes a CAN flag that is turned off and data indicating information generated by the data processing unit 221.
  • a plurality of CAN message information generated by the CAN message construction unit 224 and whose CAN-IDs can be different from each other are concatenated. It may be arranged in the payload of the E message.
  • Generation unit 220 transmits CAN message information to C-ECU based on external information (data or E message) received by one or both of E reception unit 211 and data reception unit 212 as described above. If it is necessary to do this, an E message is generated in which the CAN message information and the ON CAN flag are stored in the payload. The CAN flag turned ON is used as second information indicating that the E message includes first information (CAN message information that is a basis of the CAN message) to be transmitted to the second network. Further, when it is necessary to transmit information to the E-ECU based on the external information, the generation unit 220 includes the information to be transmitted, for example, does not include the second information (that is, An E message (with the CAN flag turned OFF) is generated.
  • the transmission unit 230 transmits the E message generated by the generation unit 220 to the first network by sending it to the cable 20a.
  • the E-ECUs 200b and 200c have the same configuration as the E-ECU 200a described above.
  • FIG. 9 is a configuration diagram of the HUB 100.
  • the HUB 100 has ports 1 to 4. Each of the ports 1 to 3 is connected to each of the cables 20a to 20c constituting the first network.
  • the port 4 is a CAN port connected to the bus 30c (that is, a wired transmission path connected to the CAN gateway 400) configuring the second network.
  • the HUB 100 includes a receiving unit 110, a transfer destination selecting unit 120, and a transmitting unit 130. Each of these components is realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory) in the HUB 100, and the like.
  • the receiving unit 110 includes an E receiving unit 111 that receives E messages from the ports 1 to 3 and a C receiving unit 112 that receives CAN messages from the port 4.
  • the transfer destination selection unit 120 determines whether or not the E message received by the reception unit 110 includes first information (CAN message information) that is a basis of a CAN message (data frame) to be transmitted to the second network. A port for transmitting a frame based on the E message is selected based on the determination result. That is, when the E message received by the receiving unit 110 does not include CAN message information, the transfer destination selecting unit 120 uses the destination MAC address in the header of the E message, and has the same E content as the E message. Select one of ports 1 to 3 as the message destination. The transfer destination selection unit 120 selects a port with reference to the MAC address table. FIG. 10 shows an example of the MAC address table used by the transfer destination selection unit 120.
  • the MAC address table is generated and updated when the HUB 100 as a switch (switching hub) learns the MAC address by receiving the E message from each of the ports 1 to 3.
  • the destination MAC address related to port 4 (CAN port) in the MAC address table for example, the specific address described above may be defined. Note that if it is possible to determine whether or not the E message includes CAN message information using the CAN flag arranged in the payload, the MAC address table may not include information on port 4 (CAN port).
  • the transfer destination selecting unit 120 determines based on the CAN flag in the E message even if it is determined based on the destination MAC address of the E message.
  • port 4 (CAN port) is selected as a transmission destination of the CAN message (data frame) configured to indicate the CAN message information.
  • the transmitting unit 130 includes an E transmitting unit 131, a C transmitting unit 132, a combining unit 133, and a dividing unit 134.
  • the E transmission unit 131 has a function of transmitting an E message from the ports 1 to 3
  • the C transmission unit 132 has a function of transmitting a CAN message from the port 4 according to the CAN protocol.
  • the combining unit 133 has a function of concatenating information on a plurality of CAN messages received by the C receiving unit 112, for example, generating an E message for transmission, and transmitting it to the E transmitting unit 131. For example, when the payload of the E message received by the E receiving unit 111 includes a plurality of linked CAN message information (see FIG.
  • the dividing unit 134 has the number of messages indicated by the number of messages in FIG.
  • each CAN message information is divided into individual CAN message information, each CAN message is generated in accordance with the CAN protocol in accordance with each CAN message information, and sequentially transmitted to the C transmission unit 132.
  • the transmission order in this case that is, the transmission order of each CAN message transmitted by the C transmission unit 132 follows, for example, the arrangement order of CAN message information in the payload of the E message that is the basis thereof.
  • the transmission unit 130 is connected to the port selected by the transfer destination selection unit 120 for the E message received by the reception unit 110 (any one of the cables 20a to 20c and the bus 30c).
  • a frame based on the received E message (that is, an E message when ports 1 to 3 are selected and a CAN message when port 4 is selected) is transmitted. That is, when the ports selected by the transfer destination selection unit 120 for the E message received by the reception unit 110 are ports 1 to 3, the transmission unit 130 has at least the same payload content as the E message.
  • the E message is sent to the cable connected to the selected port, and the port selected by the transfer destination selecting unit 120 for the E message received by the receiving unit 110 is the port 4 ( If it is a CAN port), a CAN message including the first information (CAN message information) in the E message is sent to the bus 30c.
  • the transmission unit 130 sends the CAN message to the bus 30c, uses the ID of the first information (CAN message information) (that is, the value of the ID field) in the E message received by the HUB 100, and the ID field of the CAN message. , The size indicated by the first information (ie, the value of DLC) is put in the DLC of the CAN message, and the data indicated by the first information (ie, the value of the data field) is put in the data field of the CAN message This is done by sending the generated CAN message to the bus 30c.
  • CAN message information that is, the value of the ID field
  • the size indicated by the first information ie, the value of DLC
  • the data indicated by the first information ie, the value of the data field
  • the transmission unit 130 transmits the CAN message to the bus 30c, and each of the plurality of CAN messages This is done by sequentially sending each of the plurality of CAN messages including different parts (individual CAN message information) of the first information in the E message received by the HUB 100 to the bus 30c.
  • the HUB 100 may have a function of generating an E message based on the CAN message received by the C receiving unit 112 and transmitting it from any one of the ports 1 to 3.
  • FIG. 11 is a flowchart showing an E-ECU process as an example of the operation of the E-ECU according to the present embodiment.
  • the E-ECU process executed by the E-ECU 200a will be described with reference to FIG.
  • the E-ECU 200a receives external information (E message from another E-ECU, data from the communication module 300a, etc.) by the receiving unit 210 (step S1).
  • the E-ECU 200a performs data processing (generation of various information to be transmitted to other ECUs, etc.) by the data processing unit 221 based on the received external information (step S2).
  • the E-ECU 200a uses a destination table to determine whether or not the transmission destination of the information is the C-ECU. Is determined (step S3).
  • the E-ECU 200a determines the CAN-ID according to the data type of the information
  • the CAN message construction unit 224 determines the CAN-ID and the data CAN message information indicating data indicating the information generated by the processing unit 221 and the size of the data is generated (step S4).
  • the data indicating the information generated by the data processing unit 221 exceeds the maximum data length of the CAN message, a plurality of pieces of CAN message information are generated.
  • the E-ECU 200a determines whether or not it is necessary to transmit a plurality of CAN message information (step S5), and if necessary, combines (concatenates) the individual CAN message information generated in step S4. (Step S6).
  • step S5 when a plurality of CAN message information is generated by dividing the data indicating the information generated by the data processing unit 221, or when the data processing unit 221 generates a plurality of information, a plurality of CAN messages are displayed. It is determined that transmission is necessary. If the E-ECU 200a determines in step S5 that it is not necessary to transmit a plurality of CAN messages, it skips step S6.
  • step S7 when the E-ECU 200a determines that the transmission destination is the C-ECU in step S3, the E-ECU 200a uses one CAN message information generated in step S4 or a plurality of CAN message information concatenated in step S6 as a payload.
  • the E message to be included is constructed by the message construction unit 223 (step S7).
  • step S7 when the E-ECU 200a determines that the transmission destination is not the C-ECU in step S3, the message construction unit 223 sends an E message including data indicating information generated by the data processing unit 221 in the payload. To construct.
  • the E-ECU 200a generates an E message in which the CAN message information to be transmitted to the C-ECU and the ON CAN flag are stored in the payload, or should be transmitted to the E-ECU.
  • An E message is generated in which the information and the CAN flag turned off are stored in the payload.
  • a destination MAC address determined using a destination table according to the data type of information to be transmitted is set in the header of the E message whose destination is not the C-ECU. Further, the destination MAC address indicating the specific address described above is set in the header of the E message whose destination is the C-ECU.
  • the E-ECU 200a transmits the E message generated in step S7 to the cable 20a by the transmission unit 230 (step S8).
  • the E message transmitted by the E-ECU 200a is received by the HUB 100.
  • E-ECUs 200b and 200c can perform the same operation as the E-ECU 200a.
  • FIG. 12 is a flowchart showing a HUB process as an example of the operation of the HUB 100.
  • the HUB process is a process for transferring an E message when an E message is received.
  • the transfer of the E message is transmission of the same E message as the received E message or transmission of a CAN message based on the received E message.
  • the HUB process executed by the HUB 100 will be described with reference to FIG.
  • the HUB 100 receives the E message from any of the ports 1 to 3 (step S11).
  • the HUB 100 determines whether or not the CAN flag in the received E message is ON (step S12). If the CAN flag is ON, the received E message includes the first information (CAN message information) that is the basis of the CAN message to be transmitted to the second network. If the CAN flag is OFF, the E message is the first information. Will not be included.
  • the HUB 100 selects the port corresponding to the destination E-ECU (destination MAC address) by using the MAC address table by the transfer destination selection unit 120 (step S13). Then, the HUB 100 transmits the same E message as the received E message from the port selected in step S13 (step S14), and ends the processing corresponding to the received E message.
  • step S12 determines whether or not a plurality of CAN message information is included in the received E message (step S12). S15), if it is included, it is divided into individual CAN message information (step S16).
  • the HUB 100 uses the CAN message information based on the CAN message information for each CAN message information divided in step S16, or for the CAN message information when it is determined that only one CAN message information is included in step S15. Is generated (step S17).
  • the CAN message information is composed of, for example, a CAN-ID, size, and data (see FIG. 5)
  • the HUB 100 includes the CAN-ID, size, and data and includes the CAN message (see FIG. 6). Generate.
  • the HUB 100 sequentially transmits each CAN message generated on the bus 30c from the port 4 (CAN port), thereby transmitting each CAN message to the CAN gateway 400 (step S18), and corresponding to the received E message. Finish the process.
  • the CAN gateway 400 transfers the CAN message to, for example, one or both of the bus 30a and the bus 30b based on a predetermined transfer rule.
  • a transfer rule in the CAN gateway 400 for example, a rule that defines a transfer destination bus for each CAN-ID is used.
  • FIG. 13 is a sequence diagram illustrating an example of message transmission in the in-vehicle network system 10.
  • E-ECU ECU
  • C-ECU ECU
  • the E-ECU 200a transmits, as the E message indicating the CAN message, for example, an E message including three CAN message information including different CAN-IDs to the HUB 100 via the cable 20a (step S101).
  • the HUB 100 that has received the E message determines whether the E message indicates a CAN message by using a CAN flag or the like (step S102), and in the case of indicating a CAN message, the connected CAN message information included in the E message as necessary. Is divided into three individual CAN message information (step S103).
  • the HUB 100 sequentially transmits three CAN messages to the bus 30c based on the CAN-ID, size, and data of the three CAN message information (steps S104 to S106).
  • the CAN gateway 400 receives the three CAN messages, and transfers the CAN messages to the bus selected based on the transfer rule in accordance with the CAN-ID in each received CAN message (steps S107 to S109).
  • the E-ECU 200a when the E-ECU 200a wants to transmit information to the C-ECU, the E-ECU 200a transmits an E message including CAN message information, a CAN flag, and the like.
  • the HUB 100 can appropriately select the destination of the CAN message indicated by the E message.
  • the E message is based on the E message. It becomes possible to identify whether or not to send a CAN message to the CAN bus.
  • the E-ECU 200a can include a plurality of pieces of CAN message information serving as a basis for a plurality of CAN messages in the E message. Thereby, the transmission efficiency of information can be improved.
  • the HUB 100 is modified by providing a conversion device between the HUB 100 and the bus 30c in the in-vehicle network system 10 (see FIG. 1) shown in the first embodiment.
  • the same reference numerals as those in the first embodiment are used for the same components as those shown in the first embodiment, and the description thereof is omitted.
  • the in-vehicle network system according to the present embodiment is the same as the in-vehicle network system 10 shown in the first embodiment with respect to points that are not particularly described here.
  • FIG. 14 shows a schematic configuration of the in-vehicle network according to the present embodiment.
  • the HUB 100 in the in-vehicle network (see FIG. 2) shown in the first embodiment is replaced with a HUB 100a, and a conversion device 700 and a cable 20d are added.
  • the HUB 100a does not include a CAN port but includes a plurality of ports for connecting cables 20a to 20d that are Ethernet (registered trademark) cables.
  • the HUB 100a is connected to the conversion device 700 via a cable 20d, and the conversion device 700 is connected to the CAN gateway 400 via a bus 30c.
  • the E-ECUs 200a to 200c can communicate with each other via the first network configured by connecting the cables with the HUB 100a.
  • the C-ECUs 500a to 500d can communicate with each other via a second network including the buses 30a and 30b, the CAN gateway 400, and the like.
  • the E-ECU 200a can communicate with the C-ECU 500a via the cable 20a, the HUB 100a, the cable 20d, the conversion device 700, the bus 30c, the CAN gateway 400, and the bus 30a.
  • FIG. 15 is a configuration diagram of the HUB 100a.
  • the HUB 100a is a partial modification of the HUB 100 shown in the first embodiment, and the points not particularly shown here are the same as the HUB 100.
  • the HUB 100a has ports 1 to 3 and a port A. Each of the ports 1 to 3 and the port A is connected to each of the cables 20a to 20d constituting the first network. The port A is connected to the cable 20 d connected to the conversion device 700.
  • the HUB 100a includes a receiving unit 110a, a transfer destination selecting unit 120a, and a transmitting unit 130a, and transfers an E message. Each of these components is realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory) in the HUB 100a.
  • the receiving unit 110a includes an E receiving unit 111 that receives an E message from ports 1 to 3 or port A.
  • the transfer destination selection unit 120a is a partial modification of the transfer destination selection unit 120 shown in the first embodiment, and is similar to the transfer destination selection unit 120 in that it is not particularly shown here.
  • the transfer destination selecting unit 120a determines whether or not the E message received by the receiving unit 110a includes first information (CAN message information) that is a basis of a CAN message (data frame) to be transmitted to the second network.
  • a port for transmitting a frame based on the E message is selected based on the determination result. That is, when the E message received by the receiving unit 110a does not include CAN message information, the transfer destination selecting unit 120a, based on the destination MAC address in the header of the E message, has the same E content as the E message. Select one of ports 1 to 3 as the message destination.
  • the transfer destination selecting unit 120a selects a port with reference to the MAC address table.
  • the destination MAC address related to port A in the MAC address table for example, the specific address described in the first embodiment may be defined, or the MAC address of the conversion device 700 may be defined.
  • the HUB 100a may learn the MAC address of the conversion device 700 and update the MAC address table.
  • the MAC address of the conversion device 700 is determined as the destination MAC address related to port A of the MAC address table, for example, the E-ECU 200a that is the transmission source of the E message including CAN message information is The MAC address of the conversion device 700 may be designated as the destination MAC address in the header of the E message.
  • the transfer destination selection unit 120a may select a port according to the MAC address table without confirming whether the E message includes CAN message information. If it is possible to determine whether or not the E message includes CAN message information using the CAN flag arranged in the payload, the MAC address table may not include port A information.
  • the transfer destination selecting unit 120a determines based on the CAN flag in the E message even if it is determined based on the destination MAC address of the E message. However, the port A (the port connected to the device connected to the bus 30c via the cable 20d) is selected as the destination of the same E message as the received E message.
  • the transmission unit 130a transmits the same E message as the E message received by the E reception unit 111 (or at least the E message having the same payload contents) to the port (ports 1 to 3) selected by the transfer destination selection unit 120a.
  • an E transmission unit 131 that transmits from port A) that is, transmits to a cable connected to the port is included.
  • FIG. 16 is a configuration diagram of the conversion device 700.
  • the conversion device 700 includes, for example, a processor, a digital circuit such as a memory, an analog circuit, a communication circuit, and the like.
  • the conversion device 700 has a function of converting an E message into a CAN message.
  • a reception unit 710 As functional components for realizing this function, a reception unit 710, a transfer destination determination unit 720, a division unit 730, and a CAN transmission unit 740.
  • Each of these functional components is realized by a communication circuit in the conversion apparatus 700, a processor that executes a program stored in a memory, and the like.
  • the conversion device 700 may have a function of converting a CAN message into an E message.
  • the receiving unit 710 receives an E message from the cable 20d.
  • the transfer destination determination unit 720 determines whether the E message received by the reception unit 710 includes first information (CAN message information) that is a basis of a CAN message (data frame) to be transmitted to the second network. Based on the determination result, it is determined whether or not a CAN message based on the E message should be sent to the bus 30c. For example, when the E message received by the receiving unit 710 does not include CAN message information, the transfer destination determining unit 720 determines that the CAN message should not be sent to the bus 30c, and discards the E message. When the E message received by the receiving unit 710 includes CAN message information, the transfer destination determining unit 720 notifies the dividing unit 730 of the content of the payload of the E message.
  • first information CAN message information
  • CAN message information data frame
  • the dividing unit 730 In the case where a plurality of concatenated CAN message information is included as the contents of the payload of the notified E message (see FIG. 5), the dividing unit 730, for example, the number of individual CANs indicated by the number of messages in FIG. It has a function of dividing into message information, generating each CAN message according to the CAN protocol according to each CAN message information, and sequentially transmitting it to the CAN transmitter 740.
  • the transmission order in this case follows, for example, the order of CAN message information in the payload of the E message.
  • the dividing unit 730 when one CAN message information is included as the content of the notified E message payload, the dividing unit 730 generates a CAN message according to the CAN protocol according to the CAN message information, and transmits the CAN message. Part 740.
  • the CAN transmission unit 740 sequentially transmits CAN messages to the bus 30c configuring the second network in the order of transmission to the dividing unit 730 according to the CAN protocol. Thereby, the CAN message is transferred to an appropriate bus by the CAN gateway 400 connected to the bus 30c, and is received by the C-ECU.
  • the E-ECU 200a when the E-ECU 200a wants to transmit information to the C-ECU, the E-ECU 200a transmits an E message including CAN message information, a CAN flag, and the like.
  • the HUB 100a can appropriately select the transmission destination of the E message including the CAN message information.
  • the HUB 100a Only the E message including the message information can be transmitted to the conversion apparatus 700 having a conversion function to the CAN message.
  • the conversion device 700 includes, for example, a first network that transmits a first type frame (for example, Ethernet (registered trademark) frame) according to a first communication protocol (for example, Ethernet (registered trademark) protocol), and a first communication protocol.
  • a first type frame for example, Ethernet (registered trademark) frame
  • a first communication protocol for example, Ethernet (registered trademark) protocol
  • a second communication protocol for example, CAN protocol
  • the function of the CAN gateway 400 is included in the HUB 100 in the in-vehicle network system 10 (see FIG. 1) shown in the first embodiment.
  • the same reference numerals as those in the first embodiment are used for the same components as those shown in the first embodiment, and the description thereof is omitted.
  • the in-vehicle network system according to the present embodiment is the same as the in-vehicle network system 10 shown in the first embodiment with respect to points that are not particularly described here.
  • FIG. 17 shows a schematic configuration of the in-vehicle network according to the present embodiment.
  • the CAN gateway 400 and the bus 30c in the in-vehicle network (see FIG. 2) shown in the first embodiment are omitted, and the HUB 100 is replaced with a HUB 100b including the same function as the CAN gateway 400. It is a thing.
  • the HUB 100b includes a plurality of ports (that is, terminals for connecting Ethernet (registered trademark) cables) for connection to the E-ECU.
  • the HUB 100b includes a plurality of ports (that is, terminals connected to the bus) for connecting to a bus to which one or more C-ECUs are connected. That is, the HUB 100b includes ports that connect the cables 20a to 20c and the buses 30a and 30b.
  • the E-ECUs 200a to 200c can communicate with each other via the first network configured by connecting the cables with the HUB 100b. Further, the C-ECUs 500a to 500d can communicate with each other via a second network including the buses 30a and 30b. Further, for example, the E-ECU 200a can communicate with the C-ECU 500a via the cable 20a, the HUB 100b, and the bus 30a.
  • FIG. 18 is a configuration diagram of the HUB 100b.
  • the HUB 100b has ports 1-5. Each of the ports 1 to 3 is connected to each of the cables 20a to 20c constituting the first network. Each of port 4 (CAN port 1) and port 5 (CAN port 2) is connected to each of buses 30a and 30b constituting the second network.
  • the HUB 100b may be provided with three or more CAN ports, but for convenience of explanation, an example provided with two CAN ports is shown here.
  • the HUB 100 b includes a receiving unit 110, a transfer destination selecting unit 120 b, and a transmitting unit 130. Each of these components is realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory) in the HUB 100b.
  • the receiving unit 110 includes an E receiving unit 111 that receives E messages from the ports 1 to 3 and a C receiving unit 112 that receives CAN messages from the ports 4 and 5.
  • the transfer destination selection unit 120b determines whether or not the E message received by the reception unit 110 includes first information (CAN message information) that is a basis of a CAN message (data frame) to be transmitted to the second network. A port for transmitting a frame based on the E message is selected based on the determination result. In other words, when the E message received by the receiving unit 110 does not include CAN message information, the transfer destination selecting unit 120b, based on the destination MAC address in the header of the E message, has the same content as the E message. Select one of ports 1 to 3 as the message destination. The transfer destination selection unit 120b selects ports 1 to 3 with reference to the MAC address table.
  • the transfer destination selecting unit 120b selects one of the ports 4 and 5 as a CAN message transmission destination based on the CAN message information according to the destination table. Is selected.
  • the transfer destination selecting unit 120b selects one of the ports 4 and 5 as the transfer destination of the CAN message according to the destination table.
  • FIG. 19 shows an example of a destination table used by the HUB 100b.
  • the destination table is a table in which a transmission source of a received frame, a CAN-ID when the frame is a CAN message, and a frame destination are associated with each other.
  • the source of the received frame indicates the source MAC address if the frame is an E message, and indicates the CAN port (CAN port 1 or CAN port 2) that received the frame if the frame is a CAN message. .
  • the transfer destination selection unit 120 b when receiving an E message including CAN message information with CAN-ID “0x123” from the E-ECU having the MAC address 1, the transfer destination selection unit 120 b It is selected as a CAN message transmission destination based on the CAN message information.
  • the transfer destination selecting unit 120b sets both the CAN port 1 and the CAN port 2 to the CAN message based on the CAN message information. As the destination of the message.
  • the transfer destination selecting unit 120b selects the CAN port 2 as the transfer destination of the CAN message. .
  • the transmitting unit 130 includes an E transmitting unit 131, a C transmitting unit 132, a combining unit 133, and a dividing unit 134.
  • the C transmission unit 132 receives the received E message at the selected port.
  • the CAN message based on the CAN message information or the received CAN message is transmitted.
  • the HUB 100b may have a function of generating an E message based on the CAN message received by the C receiving unit 112 and transmitting it from any of the ports 1 to 3.
  • the E-ECU 200a when the E-ECU 200a wants to transmit information to the C-ECU, the E-ECU 200a transmits an E message including CAN message information, a CAN flag, and the like. As a result, the HUB 100b can appropriately select the destination of the CAN message indicated by the E message.
  • the HUB 100b since the HUB 100b according to the third embodiment has a CAN message transfer function between CAN buses, the number of devices constituting the in-vehicle network can be reduced. The reduction in the number of devices mounted on the vehicle produces effects such as cost reduction and failure rate reduction. Further, the HUB 100b selects a CAN bus to which the CAN message is to be transmitted, based on the CAN-ID included in the CAN message information. As a result, the E-ECU 200a includes the CAN-ID corresponding to the C-ECU to which information is to be transmitted in the E message, so that the information transmission is realized.
  • a HUB 100c (described later) in which the HUB 100 is partially modified is used instead of the HUB 100 in the in-vehicle network system 10 (see FIG. 1) shown in the first embodiment.
  • the same reference numerals as those in the first embodiment are used for the same components as those shown in the first embodiment, and the description thereof is omitted.
  • the in-vehicle network system according to the present embodiment is the same as the in-vehicle network system 10 shown in the first embodiment with respect to points that are not particularly described here.
  • FIG. 20 is a configuration diagram of the HUB 100c.
  • the HUB 100c is obtained by replacing the transmission unit 130 of the HUB 100 described in Embodiment 1 with a transmission unit 130b.
  • the HUB 100c includes a receiving unit 110, a transfer destination selecting unit 120, and a transmitting unit 130b.
  • Each of these components is realized by a communication circuit, a memory, a digital circuit (or a processor that executes a program stored in the memory) in the HUB 100c.
  • the transmission unit 130 b includes an E transmission unit 131 and a C transmission unit 132.
  • the E transmission unit 131 has a function of transmitting an E message from the ports 1 to 3
  • the C transmission unit 132 has a function of transmitting a CAN message from the port 4 according to the CAN protocol.
  • the C transmission unit 132 receives the received E A CAN message is generated based on the CAN message information included in the message, and the CAN message is sent from the port 4 to the bus 30c.
  • the HUB 100c may have a function of generating an E message based on the CAN message received by the C receiving unit 112 and transmitting it from any of the ports 1 to 3.
  • FIG. 21 is a flowchart showing an E-ECU process as an example of the operation of the E-ECU according to the present embodiment.
  • the E-ECU process executed by the E-ECU 200a will be described with reference to FIG.
  • the same steps as those in the first embodiment are denoted by the same reference numerals as those in FIG. Description is omitted as appropriate.
  • the E-ECU 200a receives external information by the receiving unit 210 (step S1), and the data processing unit 221 generates various information to be transmitted to other ECUs (step S2). For each piece of information generated by the data processing unit 221 in the transmission destination determination unit 222, the E-ECU 200a determines whether the transmission destination of the information is a C-ECU using a destination table according to the data type of the information. If the destination is the C-ECU, the CAN-ID is determined according to the data type of the information, and the CAN message construction unit 224 determines the CAN-ID and the data processing unit 221. CAN message information indicating the data indicating the generated information and the size of the data is generated (step S4).
  • step S3 When the E-ECU 200a determines in step S3 that the transmission destination is the C-ECU, the E-ECU 200a uses the message construction unit 223 to construct an E message including one CAN message information generated in step S4 in the payload (step S3). S7).
  • step S7 when the E-ECU 200a determines that the transmission destination is not the C-ECU in step S3, the message construction unit 223 sends an E message including data indicating information generated by the data processing unit 221 in the payload. To construct.
  • the E-ECU 200a transmits the E message generated in step S7 to the cable 20a by the transmission unit 230 (step S8).
  • the E message transmitted by the E-ECU 200a is received by the HUB 100c.
  • E-ECUs 200b and 200c can perform the same operation as the E-ECU 200a.
  • FIG. 22 is a flowchart showing the HUB process as an example of the operation of the HUB 100c.
  • the HUB process executed by the HUB 100c will be described with reference to FIG.
  • the same processing steps as those in the first embodiment are denoted by the same reference numerals as those in FIG. Omitted as appropriate.
  • the HUB 100c receives the E message from any of the ports 1 to 3 (step S11), and determines whether or not CAN message information is included in the E message (step S12a). This determination may be performed based on, for example, whether or not the CAN flag is ON, or may be performed based on, for example, whether or not the destination MAC address in the header of the E message is the specific address described in the first embodiment. It is also good.
  • the transfer destination selection unit 120 uses the MAC address table to determine a port corresponding to the destination E-ECU. Selection (step S13), the same E message as the received E message is transmitted from the selected port (step S14), and the processing corresponding to the received E message is completed.
  • the HUB 100c determines in step S12a that the received E message includes CAN message information, the HUB 100c generates a CAN message based on the CAN message information included in the received E message (step S17).
  • the CAN message information is composed of, for example, a CAN-ID, size, and data (see FIG. 4)
  • the HUB 100c includes the CAN-ID, size, and data, and transmits the CAN message (see FIG. 6). Generate.
  • the HUB 100c transmits the CAN message generated from the port 4 (CAN port) to the bus 30c, thereby transmitting the CAN message to the CAN gateway 400 (step S18), and finishes the processing corresponding to the received E message.
  • the CAN gateway 400 transfers the CAN message to, for example, both or one of the bus 30a and the bus 30b based on a predetermined transfer rule.
  • the E-ECU 200a when the E-ECU 200a wants to transmit information to the C-ECU, the E-ECU 200a transmits an E message including CAN message information, a CAN flag, and the like. As a result, the HUB 100c can appropriately select the destination of the CAN message indicated by the E message. Note that the EUB unit 100a includes the CAN message information for one CAN message in the E message, so that the HUB 100c does not bear a processing burden such as division of the content of the payload of the received E message.
  • the transmission destination determination unit 222 in the generation unit 220 of the E-ECU 200a determines that the ECU that is the destination of the information is the C-ECU in the destination table of FIG.
  • To the message construction unit 224 as a destination MAC address In the first embodiment, a broadcast address, a multicast address, and the like are illustrated as specific addresses. However, in this embodiment, an example in which a local MAC address is used as the specific address is shown. The local MAC address is obtained by changing the value of a bit for identifying whether or not the MAC address is a global MAC address to a value other than the global MAC address.
  • the E-ECU 200a may use a destination table as shown in FIG. In the destination table of FIG. 23, a destination MAC address is associated with each data type. As the destination MAC address, “02: aa: bb: cc: 01: 23”, “02: aa: bb: cc: A local MAC address such as “02:34” is included. In this example, the data type associated with the local MAC address is information to be transmitted to the C-ECU.
  • the generation unit 220 of the E-ECU 200a When generating the E message by including the first information (CAN message information), the generation unit 220 of the E-ECU 200a transmits the E message to the second network as the destination MAC address in the header of the E message.
  • a specific value (specific address or the like) determined to indicate the second information indicating that the first information should be included is included. This specific value may be the specific address shown in the first embodiment, or a data value (local MAC) in which a bit value for identifying whether or not the MAC address is a global MAC address is a value other than the global MAC address. Address).
  • the third value representing a part of the CAN message such as CAN-ID is included in the data value (local MAC address) to reduce the content of the CAN message information included in the payload of the E message. Also good.
  • the generation unit 220 sets a data value indicating CAN-ID as the destination MAC address of the E message, and sets CAN message information including size and data and not including CAN-ID in the payload. good.
  • the HUB 100 does not determine whether or not the CAN message information is included in the received E message based on whether or not the CAN flag is ON, but identifies the destination MAC address as described above in the header of the E message. The determination may be made based on whether or not a value (for example, a local MAC address) is set. Thereby, it is possible to determine whether or not the payload includes information to be transmitted to the second network only by referring to the header of the E message. For example, in the case where the payload of the E message is encrypted, It may be possible to simplify the processing (eg, omission of decoding). Further, the HUB 100 may specify the CAN-ID using the correspondence table shown in FIG. 24 based on a specific value (for example, a local MAC address) set in the destination MAC address of the header of the E message. FIG. 24 shows a correspondence table in which MAC addresses are associated with CAN-IDs.
  • FIG. 25 is a flowchart showing the HUB process as an example of the operation of the modified HUB 100 according to the present embodiment.
  • the HUB processing by the modified HUB 100 will be described with reference to FIG.
  • the same processing steps as those in the first embodiment are denoted by the same reference numerals as those in FIG. Omitted as appropriate.
  • the generation unit 220 of the E-ECU 200a sets a data value (local MAC address) corresponding to CAN-ID as the destination MAC address of the E message, and includes the CAN-ID including size and data in the payload. A description will be given assuming that one piece of CAN message information is set.
  • the modified HUB 100 receives the E message from any of the ports 1 to 3 (step S11), and whether or not the CAN message information is included in the E message, whether the destination MAC address of the header is a specific value Determination is made (step S12b). This determination may be made based on, for example, whether the destination MAC address is the specific address described above, or based only on the value of the bit that identifies whether the destination MAC address is the global MAC address. You may do it.
  • the transfer destination selection unit 120 Using the MAC address table, a port corresponding to the destination E-ECU is selected (step S13), and the same E message as the received E message is sent from the selected port (step S14). The process corresponding to is finished.
  • the modified HUB 100 determines in step S12b that the received E message contains CAN message information (when it is determined that the destination MAC address in the header is a specific value), the correspondence table (see FIG. 24). Is obtained from the destination MAC address (step S21). Note that any method may be used to obtain the CAN-ID from the destination MAC address that is the specific value. In addition to the method using the correspondence table, for example, the E-ECU 200a that is the transmission source of the E message uses a specific value in which the CAN-ID is included in a part of the destination MAC address. A method may be used in which the CAN-ID is extracted from the destination MAC address using the modified HUB 100.
  • the E-ECU 200a transmits an E message in which a specific value as a result of the predetermined calculation for the CAN-ID is set as the destination MAC address, and the modified HUB 100 performs a calculation corresponding to the predetermined calculation from the destination MAC address by the CAN.
  • -A method of calculating ID may be used.
  • the modified HUB 100 generates a CAN message based on the CAN-ID obtained in step S21 and the size and data as CAN message information in the payload of the received E message (step S17a).
  • the modified HUB 100 transmits the CAN message generated from the port 4 (CAN port) to the bus 30c, thereby transmitting the CAN message to the CAN gateway 400 (step S18), and processing corresponding to the received E message. Finish.
  • the transmission unit 130 of the modified HUB 100 transmits the CAN message including the first information (CAN message information) in the E message received by the reception unit 110 to the bus 30c, in the header in the E message. Generated by putting the CAN-ID specified based on the value of the destination MAC address in the ID field of the CAN message and putting the data (data field value) indicated by the CAN message information in the data field of the CAN message. This is done by sending the CAN message to the bus 30c.
  • Embodiments 1 to 5 have been described as examples of the technology according to the present disclosure.
  • the technology according to the present disclosure is not limited to this, and can also be applied to embodiments in which changes, replacements, additions, omissions, and the like are appropriately performed.
  • the following modifications are also included in one embodiment of the present disclosure.
  • the E-ECU 200a places the first information (CAN message information) including the CAN flag, CAN-ID, size and data in the payload of the E message. (See FIGS. 4 and 5), as shown in FIG. 26, in the payload, the first information (as a set of data (also referred to as individual data) here) that is the contents of the data field in the CAN message and the CAN message. CAN message information) may be arranged.
  • the CAN flag is turned ON, for example, and is used as second information indicating that the first information is included.
  • the HUB 100 can specify the content of each CAN message from the set of individual data in the payload of the received E message using the correspondence table illustrated in FIG. 27 and transmit the CAN message.
  • the individual data that is the CAN message data (data field contents) of CAN-ID “0x123” is arranged in a size of 2 bytes from the second byte of the payload of the E message.
  • individual data serving as CAN message data (data field contents) of CAN-ID “0x234” is arranged in a size of one byte from the first byte of the payload of the E message.
  • the transmitting unit 130 of the HUB 100 transmits the CAN message to the bus 30c so that the individual data set included in the E message received by the HUB 100 is arranged in the payload of the individual data.
  • This is done by putting the CAN-ID specified based on the ID field of the CAN message and sending the CAN message generated by putting the value of the individual data in the data field of the CAN message to the bus 30c.
  • the E-ECU 200a can transmit the individual data to the C-ECU by arranging and transmitting the individual data in the payload of the E message according to the correspondence table similar to that of the HUB 100. In the correspondence table illustrated in FIG.
  • a flag indicating whether each individual data is valid may be provided, and the HUB 100 may extract and transmit only valid individual data.
  • the E-ECU 200a does not have the same correspondence table as the HUB 100, and the payload is configured in the same manner when information is transmitted to the E-ECU and when it is transmitted to the C-ECU. An E message may be transmitted.
  • the correspondence table (see FIG. 27) used by the HUB 100 is appropriately determined in advance corresponding to the data structure of the E message transmitted from the E-ECU 200a to the C-ECU.
  • the in-vehicle network system 10 shown in the first embodiment may include one or more HUBs 100a shown in the second embodiment in addition to the HUB100.
  • FIG. 28 shows an example of an in-vehicle network in which the HUB 100a is arranged between the E-ECU 200a and the HUB 100.
  • the E message including CAN message information transmitted from the E-ECU 200a reaches the HUB 100 via the HUB 100a in the first network.
  • the HUB 100a handles the HUB 100 in the same manner as the conversion device 700 shown in the second embodiment.
  • the in-vehicle network system is shown.
  • the above-described devices such as the ECU (E-ECU and C-ECU), the HUB, the conversion device, and the like are various network communication systems such as robots and industrial equipment. Can be used.
  • the in-vehicle network includes the first network and the second network, and the first network transmits an E message (Ethernet (registered trademark) frame) according to the Ethernet (registered trademark) protocol.
  • E message electronic message
  • Ethernet registered trademark
  • a CAN message data frame
  • This CAN protocol has a broad meaning including CANNOpen used for embedded systems in automation systems, or derivative protocols such as TTCAN (Time-Triggered CAN), CANFD (CAN-Flexible Data-Rate). It may be treated.
  • the data frame in the CAN protocol may be an extended ID format in addition to the standard ID format.
  • the Ethernet (registered trademark) frame may be, for example, an Ethernet (registered trademark) version 2 frame, or may be a frame defined by IEEE 802.3.
  • the Ethernet (registered trademark) protocol includes Ethernet (registered trademark) AVB (Audio Video Bridging) according to IEEE 802.1 or Ethernet (registered trademark) TSN (Time Sensitive Network) and Ethernet (registered trademark) according to IEEE 802.1. ) / IP (Industrial Protocol), EtherCAT (registered trademark) (Ethernet (registered trademark) for Control Automation Technology), etc.
  • the first network transmits a first type frame (for example, an E message) according to a first communication protocol
  • the second network is a bus according to a second communication protocol different from the first communication protocol. Transmission of the second type frame (for example, a CAN message) may be performed.
  • the first communication protocol is, for example, the Ethernet (registered trademark) protocol, but is not limited to the Ethernet (registered trademark) protocol, and may be, for example, a broader reach protocol.
  • the second communication protocol is, for example, the CAN protocol, but is not limited to the CAN protocol.
  • the second communication protocol is LIN (Local Interconnect Network), MOST (registered trademark) (Media Oriented Systems Transport), FlexRay (registered trademark), or the like.
  • Ethernet (registered trademark) shown in the above embodiment has a higher communication speed than CAN.
  • the first communication protocol may be various protocols having a higher communication speed than the second communication protocol.
  • the first type frame (for example, E message) is used as the basis of the second type frame (for example, CAN message) to be transmitted to the second network in the payload of the first type frame.
  • the identification flag may be included in the header of the first type frame.
  • the E-ECU 200a may include the CAN flag in the header of the E message.
  • the payload includes information to be transmitted to the second network only by referring to the header of the E message.
  • the payload of the E message is encrypted, It may be possible to simplify the processing (eg, omission of decoding).
  • a bit for identifying whether or not the destination MAC address in the header of the E message is a global MAC address may be used as the CAN flag.
  • a CAN flag may be provided in the type field in the header of the E message.
  • the E-ECU 200a may include the CAN flag in both the header and the payload of the E message.
  • the source MAC address included in the E message and the E message in the E message are included in the destination table (see FIG. 19).
  • An example is shown in which a CAN port for transmitting a CAN message is selected according to the CAN-ID included in the CAN message information.
  • a CAN port that transmits a CAN message may be selected from the source MAC address and destination MAC address in the E message, or a CAN port that transmits a CAN message is selected from the destination MAC address and CAN-ID. You may do it.
  • the HUB 100b When the HUB 100b receives a CAN message from the CAN port, the HUB 100b selects one of the ports 1 to 5 as the transfer destination of the CAN message from the received CAN port and the CAN-ID included in the CAN message. May be. In this case, if the ports 1 to 3 are selected, the HUB 100b transmits the content of the CAN message included in the E message.
  • the E-ECU 200a has an example of having a function of transmitting an E message including CAN message information and a function of transmitting an E message not including CAN message information.
  • the ECU 200a may not have a function of transmitting an E message that does not include CAN message information.
  • the HUB (HUB 100 or the like) shown in the above embodiment is a switch (switching hub), it does not have to have a switch function. That is, if the HUB does not distinguish the destination MAC address of the E message and receives an E message whose CAN flag is not turned on from one port, for example, the HUB sends the E message to all Ethernets other than that port. It may be transferred to a port to which a (registered trademark) cable is connected. Thereby, the HUB does not need to hold a MAC address table, for example, and the memory can be reduced.
  • the CAN message information included in the E message transmitted by the E-ECU is composed of the CAN-ID, size, and data.
  • the CAN message information is the CAN message. Any element may be used as long as it includes information that is the basis of generation of.
  • the CAN message information is a group of elements according to the CAN message format defined in ISO11898-1 (SOF, CAN-ID, RTR, IDE, r, size, data,..., EOF shown in FIG. ).
  • ISO11898-1 SOF, CAN-ID, RTR, IDE, r, size, data,..., EOF shown in FIG.
  • the E-ECU transmits the CAN message to the CAN bus based on the E message in the HUB or the converter by transmitting the CAN message information according to the CAN message format and including it in the E message.
  • the processing burden can be reduced.
  • the CAN message information may be configured by information indicating CAN message data (data field contents), for example.
  • the HUB 100 or the like has shown an example in which a CAN message corresponding to the CAN message information is transmitted in the arrangement order of the plurality of CAN message information included in the payload of the received E message.
  • the order of message transmission is not limited to this.
  • the HUB 100 or the like may transmit the CAN messages in order of increasing CAN-ID based on the CAN message information, or for each CAN-ID.
  • the CAN messages may be transmitted in the transmission order based on a predetermined priority order.
  • the HUB 100 or the like may transmit a CAN message that needs to be transmitted periodically after waiting for the next periodic transmission time.
  • the E-ECU 200a or the like does not need to perform processing in consideration of the CAN message transmission order when transmitting an E message including a plurality of CAN message information.
  • the execution order of the various processing procedures shown in the above embodiment is not necessarily the same as the order described above. It is not limited, and the execution order can be changed, a plurality of procedures can be performed in parallel, or a part of the procedures can be omitted without departing from the scope of the disclosure.
  • the devices such as the ECU, HUB, and conversion device in the above embodiment may include other hardware components such as a hard disk device, a display, a keyboard, and a mouse.
  • the program stored in the memory may be executed by a processor to realize the function of the apparatus in software, or the function may be realized by dedicated hardware (digital circuit or the like). May be.
  • the function sharing of each component in the apparatus can be changed.
  • a part or all of the constituent elements constituting each device in the above embodiment may be constituted by one system LSI (Large Scale Integration).
  • the system LSI is an ultra-multifunctional LSI manufactured by integrating a plurality of components on a single chip.
  • the system LSI is a computer system including a microprocessor, a ROM, a RAM, and the like. .
  • a computer program is recorded in the RAM.
  • the system LSI achieves its functions by the microprocessor operating according to the computer program.
  • each part of the constituent elements constituting each of the above devices may be individually made into one chip, or may be made into one chip so as to include a part or the whole.
  • the system LSI is used here, it may be called IC, LSI, super LSI, or ultra LSI depending on the degree of integration.
  • the method of circuit integration is not limited to LSI's, and implementation using dedicated circuitry or general purpose processors is also possible.
  • An FPGA Field Programmable Gate Array
  • a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.
  • integrated circuit technology comes out to replace LSI's as a result of the advancement of semiconductor technology or a derivative other technology, it is naturally also possible to carry out function block integration using this technology. Biotechnology can be applied as a possibility.
  • a part or all of the constituent elements constituting each of the above devices may be composed of an IC card that can be attached to and detached from each device or a single module.
  • the IC card or the module is a computer system including a microprocessor, a ROM, a RAM, and the like.
  • the IC card or the module may include the super multifunctional LSI described above.
  • the IC card or the module achieves its function by the microprocessor operating according to the computer program. This IC card or this module may have tamper resistance.
  • a frame generation method including all or part of the processing procedure illustrated in FIGS. 11 and 21 may be used.
  • the transfer method may include all or part of the processing procedure shown.
  • the frame generation method includes a first network in which transmission of a first type frame is performed according to a first communication protocol (for example, Ethernet (registered trademark) protocol), and a second communication protocol (for example, a CAN protocol) different from the first communication protocol.
  • a first communication protocol for example, Ethernet (registered trademark) protocol
  • a second communication protocol for example, a CAN protocol
  • the first type frame that includes the first information that is the basis of the second type frame to be performed and the second information that indicates that the first type frame includes information to be transmitted to the second network is included in the first type frame.
  • the first type frame is generated according to the first communication protocol.
  • the first type frame is transmitted according to the first communication protocol
  • the second type frame is transmitted via the bus according to the second communication protocol different from the first communication protocol.
  • a transfer method used in a network hub in a network system including a second network wherein a reception step of receiving a first type frame and the first type frame received in the reception step should be transmitted to the second network
  • it may be a program (computer program) for realizing this method by a computer, or may be a digital signal composed of the computer program.
  • a generation step (a step of generating a first type frame according to a first communication protocol) according to a frame generation method and a transmission step (a step of transmitting the first type frame generated in the generation step to the first network)
  • a transmission step (a step of transmitting the first type frame generated in the generation step to the first network)
  • first information as a basis of the second type frame to be transmitted to the second network, and second information indicating that the first type frame includes information to be transmitted to the second network
  • a computer-readable recording medium such as a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, or a BD can be used as the computer program or the digital signal.
  • (Blu-ray (registered trademark) Disc) recorded on a semiconductor memory or the like.
  • the digital signal may be recorded on these recording media.
  • the computer program or the digital signal may be transmitted via an electric communication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like.
  • an aspect of the present disclosure may be a computer system including a microprocessor and a memory, the memory recording the computer program, and the microprocessor operating according to the computer program. Also, by recording and transferring the program or the digital signal on the recording medium, or by transferring the program or the digital signal via the network or the like, by another independent computer system It may be carried out.
  • the present disclosure can be used for an ECU to transmit information to another ECU connected to a bus of a second network such as CAN via a first network such as Ethernet (registered trademark). .

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Computing Systems (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

Selon l'invention, une E-ECU (200a) comporte : une unité de génération (220) qui génère une trame de premier type selon un premier protocole de communication et qui est connectée à un premier réseau ; et une unité de transmission (230) qui transmet la trame de premier type générée par l'unité de génération (220) au premier réseau. L'unité de génération (220) génère la trame de premier type avec des premières informations et des secondes informations comprises dans les informations de premier type, les premières informations devenant une base pour une trame de second type devant être transmise à un second réseau et les secondes informations indiquant que la trame de premier type comprend des informations devant être transmises au second réseau.
PCT/JP2017/015816 2016-05-27 2017-04-20 Unité de commande électronique, procédé de génération de trame et programme WO2017203904A1 (fr)

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EP21173499.1A EP3907936B1 (fr) 2016-05-27 2017-04-20 Unité de commande électronique, procédé de génération de trame et programme
CN201780004574.8A CN108370336B (zh) 2016-05-27 2017-04-20 电子控制单元、帧生成方法和记录介质
EP20165255.9A EP3691196B1 (fr) 2016-05-27 2017-04-20 Unité de commande électronique, procédé de génération de trame et programme
EP17802502.9A EP3468104B1 (fr) 2016-05-27 2017-04-20 Unité de commande électronique, procédé de génération de trame et programme
US16/166,361 US10601607B2 (en) 2016-05-27 2018-10-22 Electronic control unit, frame generating method, and non-transitory computer-readable recording medium storing a program
US16/785,040 US11012255B2 (en) 2016-05-27 2020-02-07 Electronic control unit, frame generating method, and non-transitory computer-readable recording medium storing a program
US17/233,088 US11463275B2 (en) 2016-05-27 2021-04-16 Electronic control unit, frame generating method, and non-transitory computer-readable recording medium storing a program

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US201662342544P 2016-05-27 2016-05-27
US62/342544 2016-05-27
JP2017046566A JP6890025B2 (ja) 2016-05-27 2017-03-10 電子制御ユニット、フレーム生成方法及びプログラム
JP2017-046566 2017-03-10

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