WO2022163386A1 - 車載装置、及び中継方法 - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 680
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- 230000004043 responsiveness Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
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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]
- H04L12/40—Bus networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/54—Store-and-forward switching systems
- H04L12/56—Packet switching systems
- H04L12/5601—Transfer mode dependent, e.g. ATM
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- 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
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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]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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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]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/54—Store-and-forward switching systems
- H04L12/56—Packet switching systems
- H04L12/5601—Transfer mode dependent, e.g. ATM
- H04L2012/5619—Network Node Interface, e.g. tandem connections, transit switching
- H04L2012/562—Routing
Definitions
- the present disclosure relates to an in-vehicle device and a relay method.
- This application claims priority based on Japanese Application No. 2021-011343 filed on January 27, 2021, and incorporates all the descriptions described in the Japanese Application.
- Vehicles are equipped with multiple on-board ECUs (Electronic Control Units) for controlling on-board equipment such as power train systems such as engine control, and body systems such as air conditioner control.
- ECUs Electronic Control Units
- a plurality of in-vehicle ECUs are connected to the in-vehicle device.
- the in-vehicle device performs processing for controlling in-vehicle equipment such as communication relay processing between in-vehicle ECUs (for example, Patent Literature 1).
- An in-vehicle device is an in-vehicle device that is connected to a plurality of in-vehicle ECUs and relays messages output by the plurality of in-vehicle ECUs, the in-vehicle device relaying the message, and a first processing unit connected to each; a second processing unit that performs relay processing of the message; and a second processing unit that is connected to each of the plurality of in-vehicle ECUs; and a second routing table including a relay destination of the message to be processed in the second processing unit, wherein each of the first processing unit and the second processing unit includes the plurality of in-vehicle ECUs. a connection unit to which a wire connected to the process.
- FIG. 1 is a schematic diagram illustrating the configuration of an in-vehicle system according to Embodiment 1;
- FIG. 3 is a block diagram illustrating the configuration of an integrated ECU;
- FIG. 4 is a block diagram illustrating the configuration of a first communication unit;
- FIG. 4 is a conceptual diagram showing an example of contents of a rule table;
- FIG. 4 is a conceptual diagram showing an example of contents of a first table;
- FIG. FIG. 11 is a conceptual diagram showing an example of contents of a third table; 4 is a block diagram illustrating the configuration of a second communication unit;
- FIG. FIG. 11 is a conceptual diagram showing an example of contents of a second table;
- FIG. 12 is a conceptual diagram showing an example of contents of a fourth table;
- the present disclosure has been made in view of such circumstances, and aims to provide an in-vehicle device or the like that can efficiently execute relay processing even when processing is concentrated.
- An in-vehicle device is an in-vehicle device that is connected to a plurality of in-vehicle ECUs and relays messages output by the plurality of in-vehicle ECUs, the in-vehicle device relaying the message, a first processing unit connected to each of the in-vehicle ECUs; a second processing unit that performs relay processing of the message and is connected to each of the plurality of in-vehicle ECUs; a first routing table including a relay destination; and a second routing table including a relay destination of the message to be processed in the second processing unit, wherein each of the first processing unit and the second processing unit includes the plurality of a connection unit to which a wiring connected to an in-vehicle ECU is connected, the first processing unit performs the relay processing based on the first routing table, and the second processing unit performs the relay processing based on the second routing table Based on this, the relay processing is performed.
- the in-vehicle device relays messages output by a plurality of in-vehicle ECUs using the first routing table and the second routing table. Since the first processing unit and the second processing unit are connected to each of the plurality of in-vehicle ECUs, they can receive messages output from each of the in-vehicle ECUs.
- the first processing unit performs relay processing based on the first routing table on a message to be relayed by the first processing unit among the messages output from the in-vehicle ECU.
- the second processing unit performs relay processing based on the second routing table on a message to be relayed by the second processing unit among the messages output from the in-vehicle ECU.
- the in-vehicle device can efficiently perform relay processing. Even if the processing capabilities of the first processing unit and the second processing unit are low, the in-vehicle device can relay the communication of the in-vehicle ECU.
- the first routing table includes a relay destination of the message to be processed by the second processing unit
- the first processing unit includes determines whether or not the preparation for the relay processing is completed in the second processing unit, and if the preparation for the relay processing in the second processing unit is not completed, the message to be processed by the first processing unit and the second The relay processing is performed on the message to be processed by the processing unit based on the first routing table.
- the first routing table includes relay destinations of messages to be processed by the first processing unit and relay destinations of messages to be processed by the second processing unit.
- the first processing unit and the second processing unit may have different times when preparations for relay processing are completed.
- the first processing unit that has completed preparations for relay processing determines whether or not preparations for relay processing in the second processing unit have been completed. If the second processing unit is not ready for relay processing, the first processing unit performs the first routing for both the message to be processed by the first processing unit and the message to be processed by the second processing unit. Relay processing is performed based on the table. Therefore, even if the preparation for relay processing is not completed in the second processing unit, the in-vehicle device can relay each message output from the connected in-vehicle ECU.
- the second processing unit outputs a completion signal indicating completion of preparation for the relay processing after the preparation for the relay processing is completed, and outputs the completion signal.
- the relay processing based on the second routing table is started for the message to be processed in the second processing unit, and the first processing unit performs the first processing when receiving the completion signal.
- the relay processing based on the first routing table is started for the message to be processed in the unit.
- the first processing unit when preparation for relay processing in the first processing unit is completed and preparation for relay processing in the second processing unit is not completed, the first processing unit performs Relay processing is performed on the message to be processed by the first processing unit and the message to be processed by the second processing unit.
- a completion signal is output to the first processing unit.
- the second processing unit starts relay processing based on the second routing table for the message to be processed in the second processing unit.
- the first processing unit when receiving the output completion signal, starts relay processing based on the first routing table for the message to be processed in the first processing unit. That is, the first processing unit and the second processing unit start relay processing for respective messages to be relayed. Even if the first processing unit and the second processing unit are ready for the relay processing at different times, the in-vehicle device can distribute the relay processing and cause the first processing unit and the second processing unit to execute the relay processing.
- the storage outputting a signal to the second processing unit, relaying the message received after receiving the completion signal, outputting a transmission signal indicating start of transmission of the message to be processed to the second processing unit; After outputting the transmission signal, the relay processing for the message to be processed in the first processing unit is started, and the second processing unit, when receiving the save signal, relays the message to be processed in the second processing unit. Storage of the message is started, and when the transmission signal is received, transmission of the message to be processed in the second processing unit to a relay destination is started.
- the first processing unit when the first processing unit receives the completion signal and receives the message, it outputs the save signal to the second processing unit.
- the first processing unit relays the received message.
- the first processing unit outputs the transmission signal to the second processing unit after relaying the message received after receiving the completion signal and before receiving the new message. After outputting the transmission signal, the first processing unit starts relay processing for the message to be processed in the first processing unit.
- the second processing unit receives the output save signal, it starts saving the message to be processed in the second processing unit.
- the second processing unit receives the output transmission signal, it starts transmitting the message to be processed in the second processing unit to the relay destination.
- the in-vehicle device can perform the first processing from the state in which the first processing unit of the first processing unit and the second processing unit performs relay processing. Messages can be relayed without omission when the second processing unit and the second processing unit switch to the state of performing relay processing. Also, it is possible to prevent the first processing unit and the second processing unit from relaying the same message.
- the first processing unit checks the operating state of the second processing unit, and if the second processing unit is in a stopped state, the first processing unit and the message to be processed by the second processing unit, the relay processing is performed based on the first routing table.
- the first processing unit confirms the operating state of the second processing unit.
- the second processing unit is in a stopped state, that is, in a so-called frozen state
- the first processing unit relays a message to be processed by the first processing unit and a message to be processed by the second processing unit.
- the in-vehicle device can relay messages even when the second processing unit is in a stopped state.
- one of the first processing unit and the second processing unit includes a hardware gateway unit that relays the one message, and the other message is processed as software processing.
- the other of the first processing unit and the second processing unit relays the remaining message as the software processing.
- a hardware gateway part for example, a cellular interface, an Ethernet port interface, a universal serial bus interface, a controller area network automotive Ethernet interface can be used.
- the hardware gateway section is not limited to these examples, and may be hardware provided with a circuit for relaying messages output by the in-vehicle ECU based on predetermined rules.
- the hardware gateway unit may be configured by, for example, ASCI (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or PLD (Programmable Logic Device).
- the time required for the relay processing when the hardware gateway unit is used in relaying the message is shorter than the time required for the relay processing when the message is relayed as software processing.
- a relay method performs relay processing of messages output by a plurality of in-vehicle ECUs, and includes a first processing unit and a second processing unit connected to each of the plurality of in-vehicle ECUs.
- a relay method in which a device relays the message, wherein the first processing unit performs the relay processing based on a first routing table including a relay destination of the message to be processed in the first processing unit, and The second processing unit performs the relay processing based on a second routing table including a relay destination of the message to be processed by the second processing unit.
- a relay method is such that a hardware gateway unit included in one of the first processing unit and the second processing unit relays one of the messages, and One of the second processing units relays the other message as a software process, and the other of the first processing unit and the second processing unit relays the remaining messages as the software process.
- the in-vehicle device uses a hardware gateway as one of the first processing unit and the second processing unit when relaying messages from the in-vehicle ECU that require high responsiveness.
- a hardware gateway as one of the first processing unit and the second processing unit when relaying messages from the in-vehicle ECU that require high responsiveness.
- FIG. 1 is a schematic diagram illustrating the configuration of an in-vehicle system according to Embodiment 1.
- the in-vehicle system includes an integrated ECU 6 mounted in the vehicle C, a plurality of individual ECUs 2 , and an in-vehicle device 3 connected to the individual ECUs 2 .
- an integrated ECU 6 mounted in the vehicle C
- a plurality of individual ECUs 2 and an in-vehicle device 3 connected to the individual ECUs 2 .
- the number of individual ECUs 2 is not limited to two.
- the integrated ECU 6 and each individual ECU 2 are connected.
- the individual ECU 2 is arranged in each area of the vehicle C.
- the individual ECU 2 functions as a relay device such as a gateway or ether switch that relays communication between a plurality of on-board devices 3 connected to the individual ECU 2 via the on-board network 1 or communication between the on-board device 3 and the integrated ECU 6.
- the individual ECU 2 may function as a power distribution device that distributes and relays power output from a power storage device (not shown) and supplies the power to the vehicle-mounted device 3 connected to its own ECU.
- the in-vehicle device 3 includes various sensors 5 such as LiDAR (Light Detection and Ranging), a light sensor, a CMOS camera, and an infrared sensor, and an actuator 4 such as a door opening/closing device and a motor device.
- the in-vehicle device 3 is not limited to the above example, and may be a switch such as a door SW (switch) and a lamp SW, or may be a lamp.
- the individual ECU 2 performs drive control of the connected actuator 4 .
- the separate ECU 2 acquires the output signal output from the sensor 5 and transmits a request signal generated based on the acquired output signal to the integrated ECU 6 .
- the request signal includes, for example, the detected value of sensor 5 .
- the integrated ECU 6 acquires the request signal transmitted from the individual ECU 2 and transmits a control signal generated based on the detection value of the sensor 5 to the individual ECU 2 .
- Individual ECU2 performs drive control of the actuator 4 based on the control signal transmitted from integrated ECU6.
- FIG. 2 is a block diagram illustrating the configuration of the integrated ECU 6.
- Integrated ECU6 functions as relay devices, such as a gateway which relays the communication between several separate ECU2, or an Ethernet switch. Relaying of communication between the individual ECUs 2 is relaying of messages transmitted and received by the individual ECUs 2 .
- a CAN Controller Area Network
- the communication protocol may be CAN-FD (Controller Are Network with Flexible Data rate), Ethernet (registered trademark) or FlexRay (registered trademark), for example.
- Integrated ECU6 may perform protocol conversion and may relay communication of a different communication protocol.
- the messages output from the individual ECU 2 include control messages for controlling the vehicle C and diagnostic messages for diagnosing failures of the in-vehicle devices 3 .
- a diagnostic message is a so-called diagnostic message.
- the control messages include high-priority control messages with higher processing priority and low-priority control messages with lower processing priority than the high-priority control messages. Therefore, the types of messages output from the individual ECUs 2 are classified into three types: high-priority control messages, low-priority control messages, and diagnostic messages. Note that the priority of processing for diagnostic messages is lower than the priority of processing for high-priority control messages.
- a high-priority control message is, for example, a message related to running of the vehicle, and includes a message for controlling the in-vehicle equipment 3 that requires high responsiveness, such as the engine and brakes. Also, the high-priority control message includes a message regarding automatic operation.
- the low-priority control messages include body control system messages such as messages for controlling turning on and off of map lamps, and so-called entertainment system messages for controlling the car navigation system, audio system, etc. mounted on the vehicle.
- the integrated ECU 6 includes a first processing unit 61 and a second processing unit 62 that perform relay processing, and a transmission/reception unit 64 for transmitting/receiving messages to/from individual ECUs. Further, the integrated ECU 6 includes wiring 65 that connects the first processing section 61 and the second processing section 62 and the transmission/reception section 64 .
- the transmitting/receiving unit 64 is a physical layer I/F determined based on the communication protocol. For example, if the communication protocol is Ethernet, the transmission/reception unit 64 is an Ethernet PHY unit that supports packets such as TCP/IP or UDP/IP.
- the transmitter/receiver 64 is connected to the individual ECU 2 .
- the integrated ECU 6 is provided with the number of transmission/reception units 64 corresponding to the number of the individual ECUs 2 .
- the integrated ECU 6 is provided with two transmission/reception units 64 and two wirings 65 .
- One transmission/reception unit 64 is connected to one individual ECU 2 .
- One transmission/reception unit 64 is connected to the first processing unit 61 and the second processing unit 62 by one wiring 65 .
- the other transmitting/receiving section 64 is connected to the other individual ECU 2 .
- the other transmitting/receiving section 64 is connected to the first processing section 61 and the second processing section 62 by the other wiring 65 .
- the wiring 65 is connected to the individual ECU 2 via the transmitter/receiver 64 . Note that the numbers of the transmitting/receiving units 64 and the wirings 65 are not limited to two.
- the first processing unit 61 and the second processing unit 62 are separate processors. In this embodiment, an example in which the first processing unit 61 and the second processing unit 62 are separate microcontrollers (hereinafter referred to as microcomputers) will be described. Note that the first processing unit 61 and the second processing unit 62 are not limited to microcomputers. As described above, the first processing section 61 and the second processing section 62 and each transmission/reception section 64 are connected by the wiring 65 . Therefore, the first processing unit 61 and the second processing unit 62 are connected to one individual ECU 2 via one transmitting/receiving unit 64 and one wiring 65 .
- the first processing unit 61 and the second processing unit 62 are connected to the other individual ECU 2 via the other transmitting/receiving unit 64 and the other wiring 65 .
- each of the individual ECUs 2 is connected to both the first processing unit 61 and the second processing unit 62 via the transmission/reception unit 64 and the wiring 65 .
- Both the first processing unit 61 and the second processing unit 62 can transmit and receive messages to and from each individual ECU 2 .
- the integrated ECU 6 may be provided with three or more processing units configured by individual processors.
- the integrated ECU 6 may include a first processing section 61, a second processing section 62, and a third processing section, which are individual processors.
- the first processing unit 61 has a connection unit 616 connected to the wiring 65 . Further, the first processing unit 61 includes a first control unit 611 , a first storage unit 612 , a communication I/F (interface) 613 and a first communication unit 614 . The 1st control part 611, the 1st memory
- the first control unit 611 is an arithmetic processing device such as a CPU (Central Processing Unit) or MPU (Micro Processing Unit).
- the first control unit 611 reads out and executes a first program 615 and data stored in advance in the first storage unit 612, thereby performing various control processing, arithmetic processing, and the like.
- the first control unit 611 performs security-related processing such as encryption and decryption of messages and confirmation of message IDs.
- the first storage unit 612 is composed of a volatile memory device such as RAM (Random Access Memory) or a non-volatile memory device such as ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable ROM), or flash memory. be.
- the first storage unit 612 stores in advance a first program 615 executed by the first control unit 611 and data that the first control unit 611 refers to during processing.
- the first program 615 stored in the first storage unit 612 may be the first program 615 read from the recording medium 63 readable by the integrated ECU 6 .
- the first program 615 may be downloaded from an external computer (not shown) connected to a communication network (not shown) and stored in the first storage unit 612 .
- the first storage unit 612 stores a first table T11 and a third table T12, which will be described later.
- a communication I/F 613 is a communication interface for communicating with the second processing unit 62 .
- the communication I/F 613 is connected to a communication I/F 623 provided in the second processing unit 62 and described later.
- the first communication unit 614 is an input/output interface using a predetermined communication protocol.
- the first control unit 611 communicates with each individual ECU 2 via the first communication unit 614 .
- the predetermined communication protocol is a CAN communication protocol.
- the first communication unit 614 is for example a CAN controller and a CAN receiver.
- the predetermined communication protocol is not limited to the CAN communication protocol, and may be, for example, an Ethernet communication protocol.
- the first communication unit 614 includes a hardware gateway (HWGW/Hardware Gateway) unit 7, which will be described later.
- the first control unit 611 communicates with each individual ECU 2 via the first communication unit 614 .
- FIG. 3 is a block diagram illustrating the configuration of the first communication unit 614. As shown in FIG. In FIG. 3, illustration of part of the wiring 65 connecting the transmitting/receiving unit 64 and the second processing unit 62 is omitted.
- the first communication unit 614 includes an input/output unit 617 in addition to the HWGW unit 7 .
- the input/output unit 617 is, for example, pins of a microcomputer.
- the input/output section 617 is connected to the connection section 616 .
- the input/output unit 617 is connected to each individual ECU 2 via the connection unit 616 , the wiring 65 and the transmission/reception unit 64 , and outputs messages to the individual ECU 2 . Also, a message output from the individual ECU 2 is input to the input/output unit 617 .
- the HWGW unit 7 includes a reception buffer 71, a transmission queue 72, and a determination circuit 73.
- the reception buffer 71 is connected to the input/output unit 617 and the determination circuit 73 .
- a message input to the input/output unit 617 is stored in the receive buffer 71 .
- the transmission queue 72 is connected to the input/output unit 617 and the determination circuit 73 .
- the transmission queue 72 is a memory (queue) that temporarily stores relayed messages.
- the transmission queue 72 has a plurality of queues corresponding to relay destinations. Specifically, the transmission queue 72 has a queue for relaying a message to one individual ECU 2 and a queue for relaying a message to the other individual ECU 2 .
- the determination circuit 73 is connected to the first control section 611 .
- the determination circuit 73 has a rule table T13 in which relay destinations of high-priority control messages are stored.
- FIG. 4 is a conceptual diagram showing an example of contents of the rule table T13.
- the rule table T13 in FIG. 4 includes a message column, a relay destination column, and a message type column.
- messages whose types are high-priority control messages and information on the relay destinations of the messages are stored in association with each other. More specifically, messages whose type is a high priority control message are stored in the message column of the rule table T13.
- Information on the relay destination of the message for example, the address of the individual ECU 2 of the relay destination is stored in the relay destination column.
- the identifier of the message may be stored in the rule table T13.
- the message identifier is, for example, a message ID. Since the message types are shown in FIG. 4 for explanation, the rule table T13 may not include the message type column.
- the determination circuit 73 stores messages stored in the rule table T13 among the messages stored in the reception buffer 71 in the transmission queue 72 based on the rule table T13. Specifically, the determination circuit 73 stores the high-priority control message in a queue corresponding to the relay destination. The message stored in the transmission queue 72 is output (relayed) via the input/output unit 617 to the relay destination individual ECU 2 . Therefore, high priority control messages are relayed based on the rule table T13.
- the determination circuit 73 outputs to the first control unit 611 those messages stored in the reception buffer 71 that are not stored in the rule table T13. That is, the determination circuit 73 outputs messages of types other than the high-priority control message to the first control unit 611 . Although the details will be described later, the determination circuit 73 specifies the relay destination of the message output from the determination circuit 73 based on the first table T11 or the third table T12. The first control unit 611 outputs the message specifying the relay destination to the transmission queue 72 via the determination circuit 73, and stores the message in the queue corresponding to the relay destination. The message stored in the transmission queue 72 is output (relayed) via the input/output unit 617 to the relay destination individual ECU 2 .
- the first control unit 611 By executing the first program 615, the first control unit 611 relays messages as software processing. Message relay as software processing performed by the first control unit 611 is performed based on the first table T11 or the third table T12.
- FIG. 5 is a conceptual diagram showing an example of the contents of the first table T11.
- the first table T11 includes a message column, a relay destination column, a message type column, and a priority column.
- a message information on a relay destination of the message, the type of the message, and the priority of the message are stored in association with each other.
- messages whose types are low-priority control messages are stored in the message column of the first table T11.
- Information on the relay destination of the message for example, the address of the individual ECU 2 of the relay destination is stored in the relay destination column.
- the message type column stores the message type.
- the priority column stores the priority of the message.
- the priority of each message is "low".
- the identifier of the message may be stored in the first table T11 as a message whose type is a low-priority control message. Since the message types and priorities are shown in FIG. 5 for explanation, the first table T11 may not include the message type column and priority column.
- FIG. 6 is a conceptual diagram showing an example of the contents of the third table T12.
- the third table T12 like the first table T11, includes a message column, a relay destination column, a message type column, and a priority column.
- messages, information on relay destinations of the messages, types of the messages, and priorities of the messages are stored in association with each other.
- the message column of the third table T12 types of messages output from the individual ECU 2 other than the high-priority control message are stored. That is, the message string of the third table T12 stores messages that are output from the individual ECU 2 and whose types are low-priority control messages or diagnostic messages.
- Information on the relay destination of the message is stored in the relay destination column.
- the message type column stores the message type.
- the priority column stores the priority of the message. Since the types of messages in the third table T12 of FIG. 6 are low-priority control messages or diagnostic messages, the priority of each message is "low".
- the identifier of the message may be stored in the third table T12 as a message whose type is low-priority control message or diagnostic message. Since the message types and priorities are shown in FIG. 6 for explanation, the third table T12 may not include the message type column and the priority column.
- the first control unit 611 refers to the first table T11 or the third table T12 to identify the relay destination of the message output from the determination circuit 73. As described above, the first control unit 611 outputs the message specifying the relay destination to the transmission queue 72 . The output message is transmitted to the individual ECU 2 of the relay destination. Which of the first table T11 and the third table T12 the first control unit 611 refers to will be described later.
- the rule table T13, the first table T11, and the third table T12 are collectively referred to as the first routing table T1.
- the second processing section 62 includes a connection section 626 connected to the wiring 65 . Furthermore, the second processing section 62 includes a second control section 621 , a second storage section 622 , a communication I/F 623 and a second communication section 624 . The second control section 621, the second storage section 622, the communication I/F 623, and the second communication section 624 are connected. The connection section 626 and the second communication section 624 are connected.
- the second control unit 621 is composed of an arithmetic processing unit such as a CPU or MPU, and reads and executes a second program 625 and data stored in advance in the second storage unit 622 to perform various control processes and Arithmetic processing and the like are performed. For example, the second control unit 621 performs security-related processing.
- the second storage unit 622 is composed of a volatile memory element such as RAM, or a non-volatile memory element such as ROM, EEPROM, or flash memory.
- the second storage unit 622 stores in advance a second program 625 executed by the second control unit 621 and data that the second control unit 621 refers to during processing.
- the second program 625 stored in the second storage unit 622 may be the second program 625 read from the recording medium 63 readable by the integrated ECU 6 .
- the second program 625 may be downloaded from an external computer (not shown) connected to a communication network (not shown) and stored in the second storage unit 622 .
- the second storage unit 622 stores a second table T21 and a fourth table T22, which will be described later.
- a communication I/F 623 is a communication interface for communicating with the first processing unit 61 and is connected to the communication I/F 613 .
- the 1st control part 611 and the 2nd control part 621 communicate via communication I/F613 and communication I/F623. That is, the 1st processing part 61 and the 2nd processing part 62 communicate via communication I/F613 and communication I/F623.
- the first processing unit 61 and the second processing unit 62 perform serial communication, but the communication between the first processing unit 61 and the second processing unit 62 is not limited to serial communication.
- the second communication unit 624 is an input/output interface using a predetermined communication protocol. If the predetermined communication protocol is CAN, the second communication section 624 is, for example, a CAN controller and a CAN receiver. Unlike the first communication unit 614, the second communication unit 624 does not include the HWGW unit 7 in this embodiment.
- the second control section 621 communicates with each individual ECU 2 via the second communication section 624 .
- FIG. 7 is a block diagram illustrating the configuration of the second communication unit 624. As shown in FIG. In FIG. 7, illustration of part of the wiring 65 connecting the transmitting/receiving unit 64 and the first processing unit 61 is omitted.
- the second communication unit 624 has an input/output unit 627 , a reception buffer 628 and a transmission queue 629 .
- the input/output unit 627, reception buffer 628 and transmission queue 629 are connected.
- the input/output unit 627 is, for example, pins of a microcomputer.
- the input/output section 627 is connected to the connection section 626 .
- the input/output unit 627 is connected to each individual ECU 2 via the connection unit 626 , the wiring 65 and the transmission/reception unit 64 , and outputs messages to the individual ECU 2 . Also, a message output from the individual ECU 2 is input to the input/output unit 627 .
- the reception buffer 628 and transmission queue 629 are connected to the second control section 621 .
- the receive buffer 628 stores the message input to the input/output unit 627 .
- the transmission queue 629 is a queue that temporarily stores messages to be relayed. Similar to the transmission queue 72, the transmission queue 629 has a plurality of queues corresponding to relay destinations.
- the second control unit 621 identifies the relay destination of the message stored in the reception buffer 628 based on the second table T21 or the fourth table T22.
- the second control unit 621 outputs the message specifying the relay destination to the transmission queue 629 and stores the message in the queue corresponding to the relay destination.
- the message stored in the transmission queue 629 is output (relayed) to the relay destination individual ECU 2 via the input/output unit 627 .
- the second control unit 621 relays messages as software processing by executing the second program 625 . Message relay as software processing performed by the second control unit 621 is performed based on the second table T21 or the fourth table T22.
- FIG. 8 is a conceptual diagram showing an example of the contents of the second table T21.
- the second table T21 includes a message column, a relay destination column, a message type column, and a priority column.
- a message information on the relay destination of the message, the type of the message, and the priority of the message are stored in association with each other. More specifically, in the message column of the second table T21, among the messages output from the individual ECU 2, messages whose type is a diagnostic message are stored. Information on the relay destination of the message is stored in the relay destination column.
- the message type column stores the message type.
- the priority column stores the priority of the message. Since the type of message in the second table T21 of FIG. 8 is diagnostic message, the priority of each message is "low". As a message whose type is diagnostic message, the identifier of the message may be stored in the second table T21. Since the message types and priorities are shown in FIG. 8 for explanation, the second table T21 may not include the message type column and priority column.
- FIG. 9 is a conceptual diagram showing an example of the contents of the fourth table T22.
- the fourth table T22 includes a message column, a relay destination column, a message type column, and a priority column.
- messages, information on relay destinations of the messages, types of the messages, and priorities of the messages are stored in association with each other. Specifically, all messages output from the individual ECU 2 are stored in the message string of the fourth table T22. That is, the message string of the fourth table T22 stores messages output from the individual ECU 2 and of which types are high-priority control messages, low-priority control messages, or diagnostic messages.
- Information on the relay destination of the message is stored in the relay destination column.
- the message type column stores the message type.
- the priority column stores the priority of the message.
- the priority associated with the high priority control message in the example of FIG. 9 is "high".
- the priority associated with low priority control messages and diagnostic messages is "low”.
- the identifier of the message may be stored in the fourth table T22 as a message whose type is a high-priority control message, a low-priority control message or a diagnostic message. Since the message types and priorities are shown in FIG. 9 for explanation, the fourth table T22 may not include the message type column and priority column.
- the second control unit 621 refers to the second table T21 or the fourth table T22 to identify the relay destination of the message stored in the reception buffer 628. As described above, the second control unit 621 outputs the message specifying the relay destination to the transmission queue 629 . The output message is transmitted to the individual ECU 2 of the relay destination. Which of the second table T21 and the fourth table T22 the second control unit 621 refers to will be described later.
- the second table T21 and the fourth table T22 are also collectively referred to as the second routing table T2.
- the first control unit 611 determines whether or not the second processing unit 62 is ready for relay processing, and refers to the first table T11 or the third table T12 according to the determination result. Note that in the present embodiment, when the first processing unit 61 is activated, preparation for relay processing in the first processing unit is started. Also, similar to the first processing unit, when the second processing unit is activated, preparation for relay processing in the second processing unit is started.
- the first control unit 611 attempts to establish communication between the first processing unit 61 and the second processing unit 62 when determining whether the preparation for relay processing in the second processing unit 62 is complete.
- communication between the 1st process part 61 and the 2nd process part 62 is communication of communication I/F613 and communication I/F623.
- the first control unit 611 determines that preparation for relay processing in the second processing unit 62 is completed.
- the first control unit 611 When the second processing unit 62 is ready for relay processing, the first control unit 611 refers to the first table T11 to specify the relay destination of the message output from the determination circuit 73. Therefore, in this case, relay destinations of messages stored in the first table T11 are specified, but relay destinations of messages not stored in the first table T11 are not specified. As described above, the first control unit 611 outputs the message specifying the relay destination to the transmission queue 72 . The output message is transmitted to the individual ECU 2 of the relay destination. Therefore, when the second processing unit 62 is ready for relay processing, the first processing unit 61 performs relay processing on the messages stored in the rule table T13 and the messages stored in the first table T11. I do. In the example of the rule table T13 and the first table T11 described above, when the preparation for relay processing in the second processing unit 62 is complete, the first processing unit 61 generates a high priority control message and a low priority control message. and relay processing is performed.
- messages relayed in the relay processing based on the rule table T13 or the first table T11 are also referred to as messages to be processed by the first processing unit 61.
- messages to be processed by the first processing unit 61 are high-priority control messages and low-priority control messages, but the messages to be processed by the first processing unit 61 are not limited to the above examples.
- the messages stored in rule table T13 are not limited to high priority control messages.
- the messages stored in the first table T11 are not limited to low priority control messages.
- the first control unit 611 determines that the preparation for relay processing in the second processing unit 62 has not been completed. If the second processing unit 62 is not ready for relay processing, the first control unit 611 refers to the third table T12 to identify the relay destination of the message. As described above, the first control unit 611 outputs the message specifying the relay destination to the transmission queue 72 . The output message is transmitted to the individual ECU 2 of the relay destination. Therefore, when preparation for relay processing in the second processing unit 62 is not completed, the first processing unit 61 performs relay processing for all messages output from the individual ECUs 2 connected to the integrated ECU 6 .
- the integrated ECU 6 performs the relay by the HWGW unit 7 and the relay as software processing performed by the first control unit 611. All messages output from the ECU 2 can be relayed.
- the second control unit 621 determines whether or not the preparation for relay processing in the first processing unit 61 is completed, and refers to the second table T21 or the fourth table T22 according to the determination result. For example, the second control section 621 attempts to establish communication between the first processing section 61 and the second processing section 62 . When communication between the first processing unit 61 and the second processing unit 62 is established, the second control unit 621 determines that preparation for relay processing in the first processing unit 61 is completed.
- the second control unit 621 refers to the second table T21 and determines the relay destination of the message stored in the reception buffer 628 of the second communication unit 624. Identify. Therefore, in this case, relay destinations of messages stored in the second table T21 are specified, but relay destinations of messages not stored in the second table T21 are not specified. As described above, the second control unit 621 outputs the message specifying the relay destination to the transmission queue 629 . The output message is transmitted to the individual ECU 2 of the relay destination. Therefore, when the preparation for relay processing in the first processing unit 61 is completed, the second processing unit 62 performs relay processing on the messages stored in the second table T21. In the above example of the second table T21, the second processing unit 62 performs the relay processing on the diagnostic message when the preparation for the relay processing in the first processing unit 61 is completed.
- the message relayed in the relay processing based on the second table T21 is also referred to as the message to be processed by the second processing unit 62.
- the messages to be processed by the second processing unit 62 are diagnostic messages, but the messages to be processed by the second processing unit 62 are not limited to diagnostic messages.
- the messages stored in the second table T21 are not limited to diagnostic messages.
- the second processing unit 62 When both the first processing unit 61 and the second processing unit 62 are ready for relay processing, the second processing unit 62 performs relay processing on the diagnostic message. In this case, the first processing unit 61 relays the high priority control message and the low priority control message as described above.
- the integrated ECU 6 distributes the relay processing of messages output from the connected individual ECUs 2 to the first processing unit 61 and the second processing unit 62 and causes them to be processed.
- the second control unit 621 determines that the first processing unit 61 is not ready for relay processing. If the first processing unit 61 is not ready for relay processing, the second control unit 621 refers to the fourth table T22 to identify the relay destination of the message. As described above, the second control unit 621 outputs the message specifying the relay destination to the transmission queue 629 . The output message is transmitted to the individual ECU 2 of the relay destination. In this case, the high priority control message is relayed by the second control unit 621 as software processing. Therefore, when preparation for relay processing in the first processing unit 61 is not completed, the second processing unit 62 performs relay processing for all messages output from the individual ECUs 2 connected to the integrated ECU 6 .
- the relay processing based on the fourth table T22 is performed so that the integrated ECU 6 receives all messages output from the connected individual ECUs 2. can be relayed.
- the first control unit 611 confirms the operating state of the second processing unit 62 .
- the operating state of the second processing unit 62 includes a normal state in which the second processing unit 62 can perform processing and a stop state in which the second processing unit 62 cannot perform processing.
- the stop state is a so-called freeze state.
- the first control unit 611 for example, periodically communicates with the second control unit 621, and determines that the operation state of the second processing unit 62 is in a stopped state when communication is not possible.
- the first control unit 611 performs relay processing based on the third table T12. That is, the table referred to by the first control unit 611 is switched from the first table T11 to the third table T12.
- the second control unit 621 confirms the operating state of the first processing unit 61 .
- the second control unit 621 for example, periodically communicates with the first control unit 611, and determines that the operation state of the first processing unit 61 is in a stopped state when communication is not possible.
- the second control unit 621 performs relay processing based on the fourth table T22. That is, the table referred to by the second control unit 621 is switched from the second table T21 to the fourth table T22.
- the first control unit 611 By executing the first program 615 stored in the first storage unit 612, the first control unit 611 outputs a completion signal indicating completion of the relay processing to the second processing unit 62 after completion of preparation for the relay processing. do.
- the second control unit 621 By executing the second program 625 stored in the second storage unit 622, the second control unit 621 outputs a completion signal to the first processing unit 61 after the preparation for the relay processing is completed.
- the first control unit 611 By executing the first program 615 stored in the first storage unit 612, the first control unit 611 outputs a save signal indicating the start of saving the message to be processed. Specifically, when the first control unit 611 receives a completion signal from the second processing unit 62 and receives a message, the first control unit 611 outputs a save signal indicating the start of saving the message to be processed in the second processing unit 62 to the second processing unit 62 . 2 output to the processing unit 62; By executing the first program 615 stored in the first storage unit 612, the first control unit 611 outputs a transmission signal indicating the start of transmission of the message to be processed.
- the first control unit 611 relays the message received after receiving the completion signal from the second processing unit 62, and before receiving a new message, transmits the message to be processed by the second processing unit 62.
- a transmission signal indicating the start is output to the second processing unit 62 .
- the second control unit 621 outputs the save signal by executing the second program 625 stored in the second storage unit 622 . Specifically, when the second control unit 621 receives a completion signal from the first processing unit 61 and receives a message, the second control unit 621 outputs a save signal indicating start of saving the message to be processed in the first processing unit 61 to the first processing unit 61 . 1 processing unit 61. Second control unit 621 outputs a transmission signal by executing second program 625 stored in second storage unit 622 . Specifically, after relaying the message received after receiving the completion signal from the first processing unit 61, the second control unit 621 transmits the message to be processed by the first processing unit 61 before receiving a new message. A transmission signal indicating the start is output to the first processing unit 61 .
- FIG. 10 is a sequence diagram showing one mode of message relay by the integrated ECU 6.
- FIG. 10 the process of relaying messages output from the individual ECUs 2 by the integrated ECU 6 will be described using a sequence diagram including the first processing section 61 and the second processing section 62.
- FIG. 10 shows an example in which preparation for relay processing in the first processing unit 61 is completed earlier than preparation for relay processing in the second processing unit 62 .
- the step is abbreviated as S.
- the first processing unit 61 is activated and starts preparation for relay processing (S01).
- the second processing unit 62 is activated when the IG switch is turned on from off to start preparation for relay processing (S02).
- the first processing unit 61 completes preparations for relay processing earlier than the second processing unit 62 (S03).
- the first processing unit 61 determines whether or not preparations for relay processing in the second processing unit 62 are complete (S04). For example, the first processing unit 61 attempts to establish communication between the first processing unit 61 and the second processing unit 62 . At this point, preparation for relay processing in the second processing unit 62 has not been completed, so communication between the first processing unit 61 and the second processing unit 62 is not established. Since communication between the first processing unit 61 and the second processing unit 62 has not been established, the first processing unit 61 determines that the preparation for relay processing in the second processing unit 62 has not been completed.
- the first processing unit 61 starts relay processing based on the rule table T13 and the third table T12 for all messages output from the individual ECUs 2 connected to the integrated ECU 6 (S05). Specifically, the first processing unit 61 receives a message from the individual ECU 2 . Among the received messages, the high-priority control message is relayed to the relay destination individual ECU 2 based on the rule table T13 as described above. The low-priority control message or diagnostic message is relayed to the relay destination individual ECU 2 based on the third table T12 as described above. For example, the first processing unit 61 repeats relay processing based on the rule table T13 and the third table T12.
- the second processing unit 62 completes preparations for relay processing in the second processing unit 62 (S06), and determines whether preparations for relay processing in the first processing unit 61 have been completed. For example, the second processing unit 62 tries to establish communication with the first processing unit 61 . Since the communication between the first processing unit 61 and the second processing unit 62 is established, the second processing unit 62 determines that the preparation for relay processing in the first processing unit 61 is completed. The second processing unit 62 outputs a completion signal to the first processing unit 61 (S07), and notifies the first processing unit 61 that the preparation for relay processing in the second processing unit 62 is completed.
- the order in which the relay processing preparations in the first processing unit 61 and the second processing unit 62 are completed depends on the configuration of the first processing unit 61 and the second processing unit 62, and the configuration of the first processing unit 61 and the second processing unit 62. 62 can be specified in advance because they depend on the programs they refer to. If it is specified in advance that the preparation for the relay processing in the second processing unit 62 will be completed later than the preparation for the relay processing in the first processing unit 61, the second processing unit 62 performs the relay processing in the first processing unit 61. It is not necessary to determine whether or not the preparation for is completed.
- the first processing unit 61 receives the completion signal output from the second processing unit 62 .
- the first processing unit 61 receives the message from the individual ECU 2 (S08), and outputs the save signal to the second processing unit 62 (S09).
- the second processing unit 62 receives the save signal output from the first processing unit 61 and starts saving the message to be processed in the second processing unit 62 (S10). Specifically, the second processing unit 62 receives a message from the individual ECU 2 and stores the received message in the reception buffer 628 . Among the messages stored in the reception buffer 628, the messages stored in the second table T21 are stored in the queue corresponding to the relay destination in the transmission queue 629 by the second control unit 621 as described above.
- the first processing unit 61 relays the message received when the completion signal is received to the relay destination individual ECU 2 by relay processing based on the rule table T13 and the third table T12 (S11).
- the relay processing based on T12 is ended (S12).
- the first processing unit 61 outputs the transmission signal to the second processing unit 62 (S13), and starts relay processing based on the rule table T13 and the first table T11 (S14).
- the first processing unit 61 receives a message from the individual ECU 2 .
- the high-priority control message is relayed to the relay destination individual ECU 2 based on the rule table T13 as described above.
- the low-priority control message is relayed to the relay destination individual ECU 2 based on the first table T11 as described above.
- the table referred to by the first processing unit 61 in the relay process is switched from the third table T12 to the first table T11.
- the first processing unit 61 repeats relay processing based on the rule table T13 and the first table T11, and relays messages to be processed by the first processing unit 61 among the messages output from the individual ECU 2 to the integrated ECU 6.
- the second processing unit 62 receives the transmission signal output from the first processing unit 61 and starts transmitting the message to be processed by the second processing unit 62 to the relay destination (S15).
- the above message stored in the transmission queue 629 is relayed to the relay destination individual ECU 2 .
- the second processing unit 62 starts relay processing based on the second table T21.
- the second processing unit 62 repeats the relay processing based on the second table T21, and relays the message to be processed in the second processing unit 62 among the messages output from the individual ECU 2 to the integrated ECU 6.
- the second processing unit 62 completes preparation for relay processing and performs relay processing based on the fourth table T22.
- Start processing The first processing unit 61 completes preparation for relay processing and outputs a completion signal to the second processing unit 62 .
- the second processing unit 62 receives the output completion signal.
- the second processing unit 62 receives the message from the individual ECU 2 and outputs a save signal to the first processing unit 61 .
- the second processing unit 62 relays the message received when the completion signal is received by the relay processing based on the fourth table T22, and ends the relay processing based on the fourth table T22.
- the second processing unit 62 outputs the transmission signal to the first processing unit 61 and starts relay processing based on the second table T21.
- the first processing unit 61 receives the save signal output from the second processing unit 62 and starts saving the message to be processed in the first processing unit 61 .
- a message to be processed by the first processing unit 61 is stored in the transmission queue 72 according to the relay destination.
- the first processing unit 61 receives the transmission signal output from the second processing unit 62 and starts transmitting the message to be processed in the first processing unit 61 to the relay destination.
- the integrated ECU 6 It is possible to prevent non-relayed messages from occurring. That is, messages can be relayed without omission.
- FIG. 11 is a flowchart illustrating processing related to communication relay performed by the first control unit 611 of the first processing unit 61 .
- the first control unit 611 is activated and starts preparation for relay processing.
- the preparation for relay processing is completed, the first control unit 611 performs the following processing.
- the first control unit 611 determines whether or not preparations for relay processing in the second processing unit 62 are complete (S21). For example, the first control unit 611 attempts to establish communication between the first processing unit 61 and the second processing unit 62 .
- the first control unit 611 performs relay processing based on the rule table T13 and the third table T12 (S211). Specifically, as described above, the determination circuit 73 of the HWGW unit 7 specifies the relay destination of the high priority control message based on the rule table T13, and stores the high priority control message in the transmission queue 72 corresponding to the relay destination. The determination circuit 73 outputs the low priority control message and the diagnostic message to the first control section 611 .
- the first control unit 611 specifies the relay destination of the low-priority control message and the diagnostic message based on the third table T12, and sends the low-priority control message and the diagnostic message to the transmission queue 72 according to the relay destination. save.
- the first control unit 611 causes the first communication unit 614 to transmit the message stored in the transmission queue 72 to the relay destination individual ECU 2 .
- the preparation for the relay processing in the second processing unit 62 is not completed, for example, communication between the first processing unit 61 and the second processing unit 62 is not established.
- the first control unit 611 determines whether or not a completion signal has been received from the second control unit 621 (S212). If the first control unit 611 has not received the completion signal (S212: NO), it performs the processing of S211. Therefore, until the second processing unit 62 is ready for relay processing, the first processing unit 61 performs relay processing for all messages output from the individual ECUs 2 connected to the integrated ECU 6 .
- the first control unit 611 When the first control unit 611 receives the completion signal (S212: YES), it receives the message (S213) and outputs a save signal to the second control unit 621 (S214). The received message is relayed by relay processing based on the rule table T13 and the third table T12. After relaying the message, the first control unit 611 outputs a transmission signal to the second control unit 621 (S215), and performs the process of S23, which will be described later.
- the first control unit 611 If the second processing unit 62 is ready for relay processing (S21: YES), the first control unit 611 outputs a completion signal to the second control unit 621 (S22).
- the first control unit 611 performs relay processing based on the rule table T13 and the first table T11 (S23). Specifically, as described above, the determination circuit 73 of the HWGW unit 7 specifies the relay destination of the high priority control message based on the rule table T13, and stores the high priority control message in the transmission queue 72 corresponding to the relay destination.
- the determination circuit 73 outputs the low priority control message and the diagnostic message to the first control section 611 .
- the first control unit 611 identifies the low-priority control message relay destination based on the first table T11, and stores the low-priority control message in the transmission queue 72 corresponding to the relay destination.
- the first control unit 611 causes the first communication unit 614 to transmit the message stored in the transmission queue 72 to the relay destination individual ECU 2 .
- the first control unit 611 does not specify the relay destination of the diagnostic message.
- Messages to be processed in the first processing unit 61 are relayed.
- the second processing unit 62 is ready for relay processing, for example, communication between the first processing unit 61 and the second processing unit 62 is established.
- the first control unit 611 determines whether or not the second processing unit 62 is in a stopped state (S24). When the second processing unit 62 is in the stopped state (S24: YES), the first control unit 611 performs the processing of S211.
- the first control unit 611 determines whether the IG switch is off (S25). If the IG switch is off (S25: YES), the first control unit 611 ends the process. If the IG switch is not off (S25: NO), that is, if the IG switch is on, the first control section 611 performs the process of S23.
- the first processing unit 61, the rule table T13 and the first table T11, the rule table T13 and the third table T12 are divided into , the second processing unit 62, the second table T21, and the fourth table T22. Therefore, a detailed description of the processing related to communication relay performed by the second control unit 621 is omitted.
- the first processing unit 61, the rule table T13 and the first table T11, the rule table T13 and the third table T12 are read in parentheses, the second processing unit 62, the second table T21, A fourth table T22 is shown.
- the integrated ECU 6 uses the first processing unit 61 and the second processing unit 62 to relay the communication of the individual ECUs 2 , the load in relaying the communication is distributed to the first processing unit 61 and the second processing unit 62 . Therefore, the load on each of the first processing unit 61 and the second processing unit 62 in relaying communication is smaller than when only one of the first processing unit 61 and the second processing unit 62 performs relay processing.
- Integrated ECU6 can perform relay processing efficiently.
- the integrated ECU 6 corresponds to an in-vehicle device.
- the separate ECU 2 corresponds to an in-vehicle ECU.
- the high-priority control message is relayed to the relay destination by processing within the HWGW unit 7 without the first control unit 611 specifying the relay destination. Therefore, the first processing unit 61 can perform relay processing for high priority control messages faster than other types of messages. The load on the first processing unit 61 in relay processing for high-priority control messages is smaller than in relay processing for other types of messages.
- the integrated ECU 6 can correspond to the individual ECU 2 that requires high responsiveness, and relays communication efficiently. can.
- relay processing when messages are relayed as software processing it is possible to easily add and change functions in relaying by updating the software. Additions and changes in functions in relaying are, for example, additions and changes in communication protocols related to messages to be relayed.
- the other of the first processing unit 61 and the second processing unit 62 switches the table to be referenced. Even if one of the first processing unit 61 and the second processing unit 62 is stopped, the integrated ECU 6 can relay all messages output from the connected individual ECUs 2 . Therefore, the relay of communication in the integrated ECU 6 can have redundancy.
- a completion signal may be output to the other of 62 .
- the integrated ECU 6 can cause the first processing unit 61 and the second processing unit 62 to perform relay processing again.
- the first control unit 611 and the second control unit 621 may determine whether or not part of the wiring 65 connecting the individual ECU 2 and the first processing unit 61 or the second processing unit 62 is disconnected. For example, when part of the wiring 65 connecting the individual ECU 2 and the second processing unit 62 is cut, the first control unit 611 performs relay processing based on the rule table T13 and the third table T12. For example, the second control unit 621 does not perform relay processing.
- the communication relay in the integrated ECU 6 can have redundancy.
- the second processing unit 62 may be configured such that the second communication unit 624 includes the HWGW unit 7 .
- the integrated ECU 6 distributes the high priority control message to the first processing unit 61 and the second processing unit 62 and relays it. can be made
- the first processing unit 61 may not have the HWGW unit 7.
- rule table T13 is stored in first storage unit 612 .
- the first control unit 611 relays the high priority control message as software processing based on the rule table T13.
- the first control unit 611 may preferentially perform the relay based on the rule table T13, out of the relay based on the rule table T13 and the relay based on the first table T11 or the third table T12.
- the high-priority control message may be distributed to the first processing unit 61 and the second processing unit 62 and relayed as software processing.
- the integrated ECU 6 can appropriately perform relay processing according to the type of message. Since the integrated ECU 6 is configured such that the first control section 611 and the second control section 621 respectively relay messages as software processing, the processing load of the first processing section 61 and the second processing section 62 can be distributed. Since the processing loads of the first processing unit 61 and the second processing unit 62 are distributed, the first processing unit 61 and the second processing unit 62 can efficiently perform processing other than the relay processing in addition to the relay processing. can. For example, the integrated ECU 6 can cause each of the first processing unit 61 and the second processing unit 62 to perform arbitrary different processing other than relay processing.
- the first routing table T1 and the second routing table T2 are not limited to the above examples.
- the first table T11 may store some of the low-priority control messages and some of the diagnostic messages among the messages output from the individual ECUs 2 .
- the remaining low-priority control messages and the remaining diagnostic messages are stored in the second table T21.
- the first processing unit 61 performs relay processing on high-priority control messages, some low-priority control messages, and some diagnostic messages.
- the second processing unit 62 relays the remaining low-priority control messages and the remaining diagnostic messages.
- the rule table T13 and the first table T11 may be stored in the second storage unit 622 instead of the fourth table T22.
- the second table T21, the rule table T13 and the first table T11 stored in the second storage unit 622 correspond to the second routing table T2.
- the messages relayed by the HWGW section 7 and the messages relayed as software processing in the first processing section 61, and the messages relayed as software processing in the second processing section 62 are not limited to the above examples.
- ASIL Automotive Safety Integrity Level
- ISO26262 expresses the level of safety that must be realized in order to avoid possible failures in an in-vehicle embedded system in five stages.
- ASIL levels are classified into QM, ASIL-A, ASIL-B, ASIL-C, and ASIL-D levels.
- the QM level is normal quality control without applying functional safety according to ISO26262.
- levels from ASIL-A to D the application of functional safety according to ISO26262 is required, and functional safety requirements become stricter from ASIL-A to ASIL-D.
- the integrated ECU 6 determines whether the message output from the individual ECU 2 is a message regarding ASIL, and relays the message according to the determination result.
- a message relating to ASIL is, for example, a message to which one of ASIL-A to D levels is assigned.
- the integrated ECU 6 relays messages regarding ASIL as software processing of the first processing unit 61 or the second processing unit 62 . This is because it is necessary to perform processing such as abnormality detection by the first control unit 611 or the second control unit 621 for messages regarding ASIL.
- some ASIL-related messages and relay destinations of the messages are stored in association with each other.
- the remaining ASIL-related messages and relay destinations of the messages are stored in association with each other.
- the integrated ECU 6 uses the HWGW section 7 to relay messages that are not related to ASIL, such as messages to which QM levels are assigned and messages to which no ASIL is assigned.
- messages not related to ASIL and relay destinations of the messages are stored in association with each other.
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Abstract
Description
本出願は、2021年1月27日出願の日本出願第2021-011343号に基づく優先権を主張し、前記日本出願に記載された全ての記載内容を援用するものである。
特許文献1の車載装置には、通信の中継処理等の処理が集中する。しかしながら、上記の車載装置には、処理が集中する点についての考慮がなされていない。
本開示の一態様によれば、処理が集中する場合であっても効率的に中継処理を実行することができる。
最初に本開示の実施態様を列挙して説明する。また、以下に記載する実施形態の少なくとも一部を任意に組み合わせてもよい。
(8)本開示の一態様に係る中継方法は、前記第1処理部及び前記第2処理部の一方が備えるハードウェアゲートウェイ部は、一の前記メッセージを中継し、前記第1処理部及び前記第2処理部の一方は、ソフトウェア処理として他の前記メッセージを中継し、前記第1処理部及び前記第2処理部の他方は、前記ソフトウェア処理として残りの前記メッセージを中継する。
本開示をその実施形態を示す図面に基づいて具体的に説明する。本開示の実施形態に係る車載装置を、以下に図面を参照しつつ説明する。なお、本開示はこれらの例示に限定されるものではなく、請求の範囲によって示され、請求の範囲と均等の意味及び範囲内でのすべての変更が含まれることが意図される。
以下、実施の形態について図面に基づいて説明する。図1は、実施形態1に係る車載システムの構成を例示する模式図である。車載システムは、車両Cに搭載される統合ECU6、複数の個別ECU2、及び当該個別ECU2に接続される車載機器3を含む。図1の車両Cには2つの個別ECU2が設けられているが、個別ECU2の個数は2つに限定されない。統合ECU6と各個別ECU2とは接続されている。
T1 第1ルーティングテーブル
T11 第1テーブル
T12 第3テーブル
T13 ルールテーブル
T2 第2ルーティングテーブル
T21 第2テーブル
T22 第4テーブル
1 車載ネットワーク
2 個別ECU(車載ECU)
3 車載機器
4 アクチュエータ
5 センサ
6 統合ECU(車載装置)
61 第1処理部
611 第1制御部
612 第1記憶部
613 通信I/F
614 第1通信部
615 第1プログラム
616 接続部
617 入出力部
62 第2処理部
621 第2制御部
622 第2記憶部
624 第2通信部
625 第2プログラム
626 接続部
627 入出力部
628 受信バッファ
629 送信キュー
63 記録媒体
64 送受信部
65 配線
7 ハードウェアゲートウェイ(HWGW)部
71 受信バッファ
72 送信キュー
73 判定回路
Claims (8)
- 複数の車載ECUと接続され、該複数の車載ECUが出力するメッセージを中継する車載装置であって、
前記メッセージの中継処理を行い、前記複数の車載ECUそれぞれと接続される第1処理部と、
前記メッセージの中継処理を行い、前記複数の車載ECUそれぞれと接続される第2処理部と、
前記第1処理部における処理対象の前記メッセージの中継先を含む第1ルーティングテーブルと、
前記第2処理部における処理対象の前記メッセージの中継先を含む第2ルーティングテーブルとを備え、
前記第1処理部及び前記第2処理部それぞれは、前記複数の車載ECUと接続された配線が接続される接続部を備え、
前記第1処理部は、前記第1ルーティングテーブルに基づき前記中継処理を行い、
前記第2処理部は、前記第2ルーティングテーブルに基づき前記中継処理を行う
車載装置。 - 前記第1ルーティングテーブルは、前記第2処理部における処理対象の前記メッセージの中継先を含み、
前記第1処理部は、
前記第2処理部における前記中継処理の準備が完了しているか否かを判定し、
前記第2処理部における前記中継処理の準備が完了していない場合、前記第1処理部における処理対象の前記メッセージ及び前記第2処理部における処理対象の前記メッセージに対して、前記第1ルーティングテーブルに基づき前記中継処理を行う
請求項1に記載の車載装置。 - 前記第2処理部は、
前記中継処理の準備が完了した後に前記中継処理の準備の完了を示す完了信号を出力し、
前記完了信号を出力した後、前記第2処理部における処理対象の前記メッセージに対して前記第2ルーティングテーブルに基づく前記中継処理を開始し、
前記第1処理部は、前記完了信号を受信した際、前記第1処理部における処理対象の前記メッセージに対して、前記第1ルーティングテーブルに基づく前記中継処理を開始する
請求項2に記載の車載装置。 - 前記第1処理部は、
前記完了信号を受信した場合であって、前記メッセージを受信した際、処理対象の前記メッセージの保存開始を示す保存信号を前記第2処理部へ出力し、
前記完了信号を受信した後に受信した前記メッセージを中継した後、処理対象の前記メッセージの送信開始を示す送信信号を前記第2処理部へ出力し、
前記送信信号を出力した後、前記第1処理部における処理対象の前記メッセージに対する前記中継処理を開始し、
前記第2処理部は、
前記保存信号を受信した際、前記第2処理部における処理対象の前記メッセージの保存を開始し、
前記送信信号を受信した際、前記第2処理部における処理対象の前記メッセージの中継先への送信を開始する
請求項3に記載の車載装置。 - 前記第1処理部は、
前記第2処理部の動作状態を確認し、
前記第2処理部が停止状態である場合、前記第1処理部における処理対象の前記メッセージ及び前記第2処理部における処理対象の前記メッセージに対して、前記第1ルーティングテーブルに基づき前記中継処理を行う
請求項2から請求項4のいずれか1項に記載の車載装置。 - 前記第1処理部及び前記第2処理部の一方は、
一の前記メッセージを中継するハードウェアゲートウェイ部を備え、
ソフトウェア処理として他の前記メッセージを中継し、
前記第1処理部及び前記第2処理部の他方は、前記ソフトウェア処理として残りの前記メッセージを中継する
請求項1から請求項5のいずれか1項に記載の車載装置。 - 複数の車載ECUが出力するメッセージの中継処理を行い、前記複数の車載ECUそれぞれと接続される第1処理部及び第2処理部を備える車載装置が、前記メッセージを中継する中継方法であって、
前記第1処理部は、前記第1処理部における処理対象の前記メッセージの中継先を含む第1ルーティングテーブルに基づき前記中継処理を行い、
前記第2処理部は、前記第2処理部における処理対象の前記メッセージの中継先を含む第2ルーティングテーブルに基づき前記中継処理を行う
中継方法。 - 前記第1処理部及び前記第2処理部の一方が備えるハードウェアゲートウェイ部は、一の前記メッセージを中継し、
前記第1処理部及び前記第2処理部の一方は、ソフトウェア処理として他の前記メッセージを中継し、
前記第1処理部及び前記第2処理部の他方は、前記ソフトウェア処理として残りの前記メッセージを中継する
請求項7に記載の中継方法。
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