WO2021122362A1 - Communication entre réseaux d'un véhicule automobile - Google Patents

Communication entre réseaux d'un véhicule automobile Download PDF

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Publication number
WO2021122362A1
WO2021122362A1 PCT/EP2020/085713 EP2020085713W WO2021122362A1 WO 2021122362 A1 WO2021122362 A1 WO 2021122362A1 EP 2020085713 W EP2020085713 W EP 2020085713W WO 2021122362 A1 WO2021122362 A1 WO 2021122362A1
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WO
WIPO (PCT)
Prior art keywords
data bus
message
motor vehicle
control device
data
Prior art date
Application number
PCT/EP2020/085713
Other languages
German (de)
English (en)
Inventor
Robert THEILACKER
Original Assignee
Voith Patent Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Voith Patent Gmbh filed Critical Voith Patent Gmbh
Publication of WO2021122362A1 publication Critical patent/WO2021122362A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/46—Interconnection of networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems

Definitions

  • the present invention relates to communication between different networks on board a motor vehicle.
  • the invention relates to securing one of the networks against the other network.
  • a network is provided on board a motor vehicle, which network can in particular include a data bus such as the CAN bus.
  • the network can include a plurality of control devices, one or more of which are set up to control a driving function of the motor vehicle.
  • one of the control devices can control a drive motor, another a braking or steering system of the motor vehicle.
  • the network is usually designed to be closed with respect to the outside world, so that no or only very limited communication is possible.
  • a transmission standard of the network can be disclosed, but most of the messages that can be transmitted on the data bus are usually not disclosed in terms of their structure or meaning. This can make it more difficult to evaluate a message that is not intended for the public or to import a message from a third party.
  • a definition of a part of the messages that can be transmitted on the data bus can be disclosed. These messages usually concern the indication of a condition or event.
  • a diagnostic device can be connected to the data bus in order to carry out a technical analysis of control devices connected to the data bus, for example to support an exhaust gas check.
  • control devices connected to the data bus, for example to support an exhaust gas check.
  • Each control device is usually set up to assume a safe state in the event of a fault; however, a negative influence on the driving function of the vehicle by a recorded message cannot be completely prevented in all cases.
  • the motor vehicle can be networked with a central point or another motor vehicle by means of a second network.
  • information can be exchanged directly between motor vehicles (C2C: Car to Car; vehicle-to-vehicle), or a fleet of several vehicles can be controlled via the central point.
  • the two networks are usually strictly separated from one another on board the motor vehicle. However, it is desirable to exchange information between the networks in order, for example, to enable improved control of a driving function or improved fleet management. A security of the networks should remain assured.
  • the invention solves this problem by means of the subjects of the independent claims. Subclaims reproduce preferred embodiments.
  • a system for communication between a first and a second data bus on board a motor vehicle comprises a media converter which is set up to branch unidirectionally physical signals provided on the second data bus; and a control device having a first connection for connection to the first data bus and a second connection for connection to the media converter in order to receive the branched signals.
  • the control device is set up to reconstruct a message transmitted by means of signals on the second data bus, to evaluate the message and to provide a further message on the first data bus as a function of a result of the evaluation.
  • the media converter can operate on a physical layer of a communication model between the data buses.
  • the data buses can use different physical signals for message transmission, for example power and light, wherein the media converter can be set up to convert signals accordingly.
  • the media converter is set up to transmit information exclusively in a predetermined direction, in the present context in particular from the second data bus to the first data bus.
  • the media converter can represent the IT equivalent of a diode and is sometimes also called a data diode.
  • One as a data diode known device can be used for this purpose.
  • the only one-sided data transfer can also be called read-along or read-only access.
  • a diode or a similar semiconductor can be used to couple two data buses that work with electrical currents or voltages. If different physical signals are used on the data buses, for example power and light, the media converter can ensure the desired unidirectionality by appropriately converting the physical signals. In a further embodiment, a signal can also be converted several times between the data buses. For example, an electrical signal can first be converted into an optical signal and then back into an electrical signal by means of an optocoupler.
  • the first data bus can only be connected to the second for reading and this only for writing to the first.
  • the second data bus can be connected transparently for the first data bus; Components on the first data bus do not have to be aware of the second data bus or a component connected to it. Conversely, the second data bus can also be connected transparently to the first data bus.
  • the data buses usually have different meanings on board the motor vehicle.
  • the first data bus can be connected to a control device for controlling the motor vehicle.
  • the control device can in particular influence a movement of the motor vehicle in the longitudinal and / or transverse direction and, for example, control a component of a drive train of the motor vehicle, for example a transmission or a drive motor.
  • the first data bus can in particular be considered to be secured and / or trustworthy.
  • Information transmitted from the first data bus can be protected from uncontrolled dissemination to the second data bus.
  • the second data bus is usually less well secured, can be considered less trustworthy and is often connected to another network whose security or trustworthiness can generally not be guaranteed.
  • the second data bus can be connected to a wireless interface for connection to a remote device.
  • the wireless interface can include, for example, a cellular or WLAN connection.
  • the second data bus can be part of a network via the wireless interface, via which messages of the first data bus should not be transmitted without being estimated.
  • This network can be of any size and / or complex and, for example, comprise or be connected to the Internet.
  • control device cannot be addressed on the second data bus.
  • a message cannot be sent directly to the control unit on the second data bus.
  • control device cannot be recognized or not known on the second data bus.
  • a recipient address for the control unit cannot exist or cannot be set. The message can be transmitted on the first data bus to any recipient that differs from the second data bus.
  • a protocol that supports addressless communication for example by means of broadcast, can be used on the second data bus.
  • the control unit can receive information from the second data bus by "listening in” to it.
  • the control device is set up to determine a type of a reconstructed message and to discard the message if the type does not correspond to a predetermined type. In this way, only predetermined messages can get from the first to the second data bus.
  • a final list of message types can be provided, a message that does not correspond to a type of the list being discarded.
  • the message type can be defined in a specification of a protocol used on the second data bus. This prevents a message from being evaluated which could compromise the security of the first data bus. For example, a type of message relating to a request to provide information can be discarded.
  • a predetermined number of messages is defined that is evaluated by the control unit; all other messages can be discarded. In particular, defective or incomplete messages can also be discarded.
  • the control unit usually does not transmit any acknowledgment of receipt to the second data bus and cannot request a retransmission of a discarded message.
  • control device is set up to check the plausibility of the content of a reconstructed message.
  • the message can be handled on a higher communication layer than the physical transmission layer.
  • the plausibility check can take place in particular on the application layer (layer 7). If the content of the reconstructed message is not plausible, the message can be discarded. Otherwise the evaluation can be continued.
  • the plausibility check can take place in relation to information that was received via the first data bus.
  • the control unit can receive this information via the first data bus when the information is transmitted, or it can request its transmission itself.
  • the information can for example be provided by a sensor or a control device on the first data bus.
  • a corresponding technique can be used to provide information in the opposite direction, from the first data bus to the second data bus.
  • a corresponding system includes a further media converter which is set up to branch a physical signal provided on the first data bus unidirectionally to the second data bus. The second data bus can "listen" to the first data bus without being able to import a message onto the first data bus.
  • data from the first data bus first pass through the control device and then through the further media converter in order to be able to be reconstructed and evaluated in the second data bus.
  • the control device can only forward predetermined messages, in particular only messages of a predetermined message type, to the second data bus.
  • the control device can be set up to cause a further device connected to the first data bus to transmit predetermined information on the first data bus. The control device can thus ensure that the information is transmitted on the first data bus so that it can be read on the second data bus.
  • the control device can initiate the transmission of the information preferably in a time-controlled manner, in particular periodically.
  • a status or an operating parameter of a predetermined device can be published on the second data bus without a device on the second data bus sending a corresponding request to the first data bus.
  • a point in time for required maintenance of a component on board the motor vehicle can be determined on the basis of transmitted information.
  • control devices can include, for example, a device for determining a geographical position of the motor vehicle, a camera on board the motor vehicle, an operating hours counter or an input device controllable by a driver or passenger of the motor vehicle.
  • the other control devices can provide information according to a predetermined protocol or in a predetermined data format.
  • an open interface can be used for which a specification for the transmission of information is known (“open interface”).
  • At least one of the data buses comprises a CAN bus.
  • the CAN bus can in particular be used for the first data bus.
  • Alternative techniques for at least one of the data buses include, for example, K-Line, FlexRay, Lin or Ethernet. If the data buses use different protocols, the control device can be set up to convert messages accordingly.
  • a motor vehicle comprises a system as described herein.
  • the motor vehicle can in particular include a utility vehicle, which is further preferred for Passenger transport is set up.
  • the motor vehicle can include a city bus that is used, for example, in regular service.
  • a method for communication between a first and a second data bus on board a motor vehicle comprises steps of unidirectional branching of physical signals provided on the second data bus; reconstructing a message transmitted by signals on the second data bus based on the branched signals; evaluating the reconstructed message; and providing a further message on the first data bus as a function of a result of the evaluation.
  • the method can be carried out by means of a processing device, which can in particular be comprised by a control device described herein.
  • the processing device can comprise a programmable microcomputer or microcontroller, and the method can be in the form of a computer program product with program code means.
  • the computer program product can also be stored on a computer-readable data carrier. Additional features or advantages of the method can be transferred to a corresponding device, in particular a control device or a system described herein, or vice versa.
  • Figure 1 shows a system
  • FIG. 2 shows a flow chart of a first method
  • FIG. 3 illustrates a flow chart of a second method.
  • FIG. 1 shows a system 100 which comprises a motor vehicle 102, on whose board a first data bus 104 and a second data bus 106 are attached.
  • the data buses 104, 106 are shown as circles, although a topology is shown in FIG Data buses 104, 106 can each be selected to be star-shaped, bus-shaped or any other.
  • the data buses 104 and 106 form different domains in terms of communication technology, between which information can only be exchanged under certain conditions.
  • a domain boundary 108 separates a first domain 110, which includes the first data bus 104, from a second domain 112, which includes the second data bus 106.
  • the first data bus 104 is preferably connected to one or more control units that can control a driving function of the motor vehicle 102.
  • the first data bus 104 can also be called DriveLine and is often implemented as a CAN bus.
  • motor vehicle 102 can include a drive train 114, which can include a drive motor 116, a transmission 118 and / or a drive wheel 120.
  • the first data bus 104 can be connected to control units that act, for example, on the drive motor 116 or the transmission 118.
  • Other possible control devices that can control a driving function of the motor vehicle 102 include, for example, control devices for a wheel brake, a retarder, a recuperator or a steering system.
  • the second data bus 106 can usually be connected to devices that do not or not directly affect a driving function of the motor vehicle 102.
  • a console 122 that can be operated by a driver of the motor vehicle 102, a camera 124 directed at an interior space or the surroundings of the motor vehicle 102, or a wireless interface 126 can be connected to the second data bus 106.
  • the interface 126 is preferably set up to communicate with a remote device 130 by means of a network 128.
  • the external device 130 can include a wireless interface 132 for communication with the wireless interface 126 on board the motor vehicle 102, a processing device 134 and an optional storage device 136.
  • the external device 130 is usually set up to process information obtained from a large number of motor vehicles 102.
  • a device located on board the motor vehicle 102 can also communicate with the interface 126.
  • the interface can comprise 126 a security component such as a firewall, which can in particular be designed as a packet filter, which can analyze transmitted data per se (“stateless inspection”) or in connection with a transmission status (“stateful inspection”).
  • the remote device 130 can in particular comprise a central device which is set up to communicate with a multiplicity of motor vehicles 102. Alternatively, the remote device 130 can also be mounted on board another motor vehicle 102 or on a traffic infrastructure.
  • a multiplicity of devices can be communicatively connected to one another via the network 128.
  • the network 128 can be connected to a wide area network such as the Internet via one of the devices.
  • the second data bus 106 can transport information that is required, for example, for demand-controlled or preventive maintenance of the motor vehicle 102, fleet management, traffic management, schedule monitoring, position transmission or a similar function.
  • the second data bus 106 is connected to another network 128, there is a risk that an attacker or an incorrectly configured device will act on a device connected to the second data bus 106.
  • a driving function of the motor vehicle 102 cannot be influenced thereby.
  • Operational safety of the motor vehicle 102 can thereby be ensured.
  • personal injury to a person in motor vehicle 102 or its surroundings cannot usually be caused by a device connected to network 128.
  • a first media converter 138 is set up to branch unidirectionally physical signals provided on the second data bus 106.
  • the first media converter 138 should behave essentially in the manner of a diode, so that it allows the physical signals to be passed on to another device, but prevents the reverse path. Accordingly, a physical signal cannot be fed into the second data bus 106 via the first media converter 138.
  • the media converter 138 can be implemented as a semiconductor, optical waveguide or optocoupler, for example.
  • control device 140 which is set up to receive the physical signals provided by the media converter 138 and to reconstruct a message transmitted on the second data bus 106 on their basis. In this way, a message can be transferred from the second data bus 106 to the control device 140 without any reaction.
  • the control device 140 is preferably not a dedicated communication partner for a device on the second data bus 106.
  • the control device 140 cannot, for example, be addressed from the second data bus 106, but it can preferably reconstruct messages transmitted via the second data bus 106.
  • the control device 140 can be designed as a gateway.
  • a reconstructed message can be further evaluated and, in particular, a further message can be determined on its basis, which the control device 140 can transmit to the first data bus 104.
  • This message can be newly created on the basis of the reconstructed message.
  • the sent message can also be derived from the reconstructed message, for example by deleting or changing parts of the reconstructed message. The handling of reconstructed and transmitted messages is described in more detail herein with reference to a method.
  • a second media converter 142 can be provided in order to enable information to be transmitted from the first data bus 104 to the second data bus 106 in the opposite direction.
  • the second media converter 142 operates in the same manner as described above with respect to the first media converter 138.
  • the second media converter 142 takes physical Signals either directly from the first data bus 104 or from the control device 140 connected to the first data bus 104 and branches these unidirectionally to the second data bus 106 or a device connected to it.
  • the entire data traffic of the first data bus 104 can also be read by the second data bus 106. If the control device 140 is connected between the first data bus 104 and the second media converter 142, it can only let through predetermined messages and filter out others. A message that has passed through can also be changed, for example by deleting or changing a part. Furthermore, a message read from the first data bus 104 can serve as the basis for a new message that is output by the control device 140 to the second media converter 142.
  • FIG. 2 shows a flow chart of a first method 200 which illustrates the transmission of information from the second data bus 106 to the first data bus 104 on board a motor vehicle 102.
  • the domain boundary 108 is shown for easier orientation. Method steps shown above the domain boundary 108 essentially relate to the second domain 112, and the method steps shown below relate to the first domain 110. It is thus made clear between which method steps the transition over the domain boundary 108 takes place.
  • a message is sent on the second data bus 106 in a step 205.
  • the sending takes place by means of a device connected to the second data bus 106 and the message is usually transmitted to another device connected to the second data bus 106.
  • the message can be received by this device in a step 210.
  • the second device it is not necessary for the second device to receive the message or to exist at all as long as the message is transmitted via the second data bus 106.
  • the communication taking place on the second data bus 106 is branched.
  • physical signals that represent the message are derived from the second data bus 106 to the control device 140 with as little feedback as possible.
  • the communication on the second data bus 106 is preferably not impaired as a result.
  • the branched message can be reconstructed.
  • this can include evaluating the physical signals provided, comparing them with threshold values, determining data integrity and / or dividing them into different data fields.
  • One of the data fields can relate to a message type. Different messages or message types could have different lengths.
  • the message can be provided with a checksum. An incomplete or incorrectly received message can be discarded.
  • a step 225 it can be checked whether a message type of the reconstructed message is known or allowed for forwarding. If the reconstructed message is not of a permitted message type, it can also be discarded. In a further embodiment, a final list of permitted messages or message types is specified, it being possible for all reconstructed messages that do not correspond to an entry in the list to be discarded.
  • a step 230 it can be checked whether the reconstructed message comprises a request.
  • a request is set up to cause a receiving device connected to the first data bus 104 to provide information on the first data bus 104.
  • the information can include an acknowledgment of the received message. Such a message can also be discarded.
  • a content of the reconstructed message can be checked for plausibility.
  • a comparison value can be determined in a step 240.
  • the comparison value can in particular originate from a device connected to the first data bus 104.
  • the control device 140 can read a corresponding piece of information transmitted to the first data bus 104.
  • the control device 140 can also initiate the transmission of the information on the first data bus 104 in a targeted manner.
  • the reconstructed message can be a
  • a position-dependent speed limit can be read from a map memory connected to the first data bus 104. If the two speed restrictions deviate from one another by more than a predetermined amount, the reconstructed message can be discarded.
  • method 200 can continue.
  • a further message can be generated on the basis of the reconstructed message.
  • the further message can essentially correspond to the reconstructed message. This applies in particular when the data buses 104 and 106 use the same technologies, for example a CAN bus.
  • the further message can only comprise part of the information in the reconstructed message. Other information that was determined in step 240, for example, can be added to the further message.
  • the further message can be sent out on the first data bus 104.
  • the message can be directed to a specific device, to the device connected to the first data bus 104, or it can be sent without a dedicated receiver.
  • FIG. 3 shows a flow chart of a second method 300 that can be carried out within the framework of a system 100 on board a motor vehicle 102.
  • the method 300 can in particular be combined with the method 200.
  • the domain boundary 108 and the domains 110 and 112 are shown schematically in relation to the steps shown.
  • the method 300 begins in the first domain 110 with the first data bus 104.
  • the control device 140 can transmit a message on the first data bus 104 to a device connected to it.
  • Step 305 is preferably carried out in a time-controlled manner, for example periodically or periodically as long as a certain condition is met, which in particular can include an operating state of motor vehicle 102.
  • the message can be transmitted every n seconds if the motor vehicle 102 is in an operationally ready state, in particular while the drive motor 116 is running.
  • the transmitted message includes a request for the provision of predetermined information by the addressed device.
  • This predetermined information is usually not already queried as standard on the data bus 104, but can also be provided by the control device 140.
  • a list with information to be exchanged can be defined on control device 140. Examples of such information are special requests to the fault memory.
  • the device can receive the message with the request. The device preferably reacts to the request and in a step 315 sends a message with the requested information on the first data bus 104. This message can be sent to the control device 140, another device connected to the first data bus 104, a non-existent device or no specific device Be addressed to the recipient.
  • a step 320 in which the message is received is optional.
  • the message is received by control device 140 and optionally processed.
  • the control device 140 can create a further message on the basis of the received message.
  • the created message can only comprise part of the information of the message provided in step 315.
  • the created message can also contain additional information.
  • the control device 140 can then transmit the message to the first data bus 104 in the manner of step 315.
  • the transmitted message is branched from the first data bus 104 or from the control device 140 in a step 325 by means of the second media converter 142.
  • the second media converter 142 In doing so, physical signals that the Represent message, provided in the direction of the second data bus 106 without significantly burdening the source of the physical signals and in particular without the possibility of transmitting physical signals in the opposite direction.
  • the message can be reconstructed in the second domain 112 by a device connected to the second data bus 106.
  • the message can then be processed and transmitted by means of the wireless interface 126 outside the motor vehicle 102.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)

Abstract

Un système de communication entre un premier bus de données et un second bus de données à bord d'un véhicule automobile comprend : un convertisseur de support qui est configuré pour dériver de manière unidirectionnelle des signaux physiques fournis sur le second bus de données ; et une unité de commande présentant une première connexion pour une connexion au premier bus de données et une seconde connexion pour une connexion au convertisseur multimédia afin de recevoir les signaux ramifiés. Dans ce cas, l'unité de commande est configurée pour reconstruire un message transmis sur le second bus de données au moyen de signaux, pour évaluer le message et pour fournir un autre message sur le premier bus de données sur la base d'un résultat de l'évaluation.
PCT/EP2020/085713 2019-12-17 2020-12-11 Communication entre réseaux d'un véhicule automobile WO2021122362A1 (fr)

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DE102019134626.6A DE102019134626A1 (de) 2019-12-17 2019-12-17 Kommunikation zwischen Netzwerken eines Kraftfahrzeugs

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DE102022201461A1 (de) * 2022-02-11 2023-08-17 Zf Friedrichshafen Ag Kommunikation an Bord eines Fahrzeugs
DE102022124559A1 (de) 2022-09-23 2024-03-28 Zf Cv Systems Global Gmbh Anhängernetzwerksystem zur Datenkommunikation in einem Anhängerfahrzeug sowie Anhängerfahrzeug damit und Verfahren dafür

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