WO2023030818A1 - Procédé et dispositif de commande pour unité de commande électronique (ecu) - Google Patents

Procédé et dispositif de commande pour unité de commande électronique (ecu) Download PDF

Info

Publication number
WO2023030818A1
WO2023030818A1 PCT/EP2022/071939 EP2022071939W WO2023030818A1 WO 2023030818 A1 WO2023030818 A1 WO 2023030818A1 EP 2022071939 W EP2022071939 W EP 2022071939W WO 2023030818 A1 WO2023030818 A1 WO 2023030818A1
Authority
WO
WIPO (PCT)
Prior art keywords
board network
control unit
electronic control
network channel
channel
Prior art date
Application number
PCT/EP2022/071939
Other languages
English (en)
Inventor
Jinjun Tang
Yongzheng SHI
Yan Chen
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2023030818A1 publication Critical patent/WO2023030818A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/02—Standardisation; Integration
    • H04L41/0226—Mapping or translating multiple network management protocols
    • 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
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
    • H04L41/0659—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities
    • H04L41/0661—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities by reconfiguring faulty entities
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/34—Signalling channels for network management communication
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0805—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability
    • H04L43/0817—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking functioning

Definitions

  • the present invention relates to the field of control of electronic control units (ECU), in particular to a control method and device for an electronic control unit (ECU), a computer storage medium, a computer program product, an electronic control unit and a vehicle.
  • ECU electronice control unit
  • an electronic control unit In the event of a fault or abnormality, an electronic control unit (ECU) might lose communication over an on-board network such as CAN or Ethernet. When communication is lost and no protocol data units (PCU) are sent over the on-board network, it is very difficult to check whether there is a communication error or collapse of all software on the vehicle.
  • ECU electronice control unit
  • PCU protocol data units
  • a control method for an electronic control unit comprising: determining an abnormality of a first on-board network channel of the electronic control unit (ECU); forwarding a protocol data unit (PDU) transmitted on the first on-board network channel to a second on-board network channel; and conducting communication with another electronic control unit of a host vehicle via the second on-board network channel.
  • ECU electronice control unit
  • the first on-board network channel is a CAN channel
  • the second on-board network channel is an Ethernet channel
  • the method described above further comprises: receiving a diagnostic command via the second onboard network channel; and returning error information to a diagnostic apparatus via the second on-board network channel, the error information comprising a state of a communication module associated with a first on-board network or an overall software state.
  • the method described above further comprises: upon determining that a fault has occurred in a communication module associated with the first on-board network, rebooting the communication module by a software reset.
  • a control device for an electronic control unit comprising: a determining means, for determining an abnormality of a first on-board network channel of the electronic control unit (ECU); a forwarding means, for forwarding a protocol data unit (PDU) transmitted on the first on-board network channel to a second on-board network channel; and a communication means, for conducting communication with another electronic control unit of a host vehicle via the second on-board network channel.
  • a determining means for determining an abnormality of a first on-board network channel of the electronic control unit (ECU)
  • PDU protocol data unit
  • the first on-board network channel is a CAN channel
  • the second on-board network channel is an Ethernet channel
  • the device described above further comprises: a receiving means, for receiving a diagnostic command via the second on-board network channel; and a feedback means, for returning error information to a diagnostic apparatus via the second on-board network channel, the error information comprising a state of a communication module associated with a first on-board network or an overall software state.
  • the device described above further comprises: a rebooting means for, upon determining that a fault has occurred in a communication module associated with the first on-board network, rebooting the communication module by a software reset.
  • a computer storage medium comprising instructions which, when run, perform the method as described above.
  • a computer program product comprising a computer program which, when executed by a processor, performs the method as described above.
  • an electronic control unit comprising the device as described above.
  • a vehicle comprising the electronic control unit as described above.
  • the control scheme for an electronic control unit (ECU) in embodiments of the present invention makes full use of two on-board network channels by which the electronic control unit conducts communication (e.g. a CAN channel and an Ethernet channel); when a problem occurs in one of the two channels, a protocol data unit (PDU) is transferred to the other channel for transmission (based on support by the whole-vehicle electrical/electronic architecture), thereby ensuring the correct execution of ECU functions.
  • the control scheme for an electronic control unit (ECU) in embodiments of the present invention may also perform checking and restoring operations via the other channel, in order to promptly deal with a communication fault that occurs in the electronic control unit (ECU).
  • Fig. 1 shows a schematic flow chart of a control method for an electronic control unit (ECU) according to an embodiment of the present invention
  • Fig. 2 shows a structural schematic diagram of a control device for an electronic control unit (ECU) according to an embodiment of the present invention.
  • ECU Electronic control unit
  • Fig. 1 shows a schematic flow chart of a control method 1000 for an electronic control unit (ECU) according to an embodiment of the present invention.
  • the control method 1000 for an electronic control unit (ECU) comprises the following steps: in step S110, an abnormality of a first on-board network channel of the electronic control unit (ECU) is determined; in step S120, a protocol data unit (PDU) transmitted on the first on-board network channel is forwarded to a second on-board network channel; and in step S130, communication is conducted with another electronic control unit of a host vehicle via the second on-board network channel.
  • PDU protocol data unit
  • on-board network also called “in- vehicle network” means that communication among sensors, controllers and actuators in the vehicle is connected by point-to-point connecting lines to form a complex network structure.
  • the on-board network may comprise a CAN (Controller Area Network), LIN (Local Interconnect Network), Flexray, MOST (Media Oriented Systems Transport), Ethernet, etc.
  • determining an abnormality of a first on-board network channel of the electronic control unit (ECU) may comprise: determining that communication is lost and that no protocol data units (PDU) are sent over the on-board network.
  • the abnormality may be caused by a communication error or collapse of software on the vehicle.
  • a protocol data unit (PDU) transmitted on the first on-board network channel is forwarded to the second on-board network channel.
  • forwarding a protocol data unit (PDU) transmitted on the first onboard network channel to the second on-board network channel comprises: converting a PDU/message of a first communication protocol to a PDU/message of a second communication protocol for transmission on the second on-board network channel, wherein the first on-board network channel supports the first communication protocol, and the second on-board network channel supports the second communication protocol.
  • step S130 if the electrical/electronic architecture of the electronic control unit (ECU) supports transmission, on the second on-board network channel, of the PDU originally transmitted on the first on-board network channel, communication with another electronic control unit of the host vehicle is conducted via the second on-board network channel instead.
  • a functional layer of the other electronic control unit of the host vehicle, e.g. a higher-level electronic control unit
  • ECU electronice control unit
  • the first on-board network channel is a CAN channel
  • the second on-board network channel is an Ethernet channel
  • CAN is an abbreviation for Controller Area Network, being a serial data communication protocol, with a maximum communication rate of 1 Mbps.
  • any node can launch data communication with any other (one or more) node, with the communication sequence being determined by the order of information priority of the various nodes.
  • CAN is able to be widely used in a variety of applications, from vehicle navigation systems to engine control systems.
  • On-board Ethernet is based on traditional industrial Ethernet technology; it likewise uses the lOOBase- TX physical layer protocol, being an interface capable of performing differential transmission corresponding to a rate of 100 Mbps. On-board Ethernet can achieve bidirectional transmission at 100 Mbps.
  • the method 1000 further comprises: receiving a diagnostic command via the second on-board network channel; and returning error information to a diagnostic apparatus via the second on-board network channel, the error information comprising a state of a communication module associated with a first on-board network or an overall software state. That is to say, in this embodiment, when a fault occurs in a first on-board network (e.g. when there is no CAN communication), at attempt can be made to report an error code to a diagnostic apparatus via an Ethernet channel.
  • a diagnostic command of the diagnostic apparatus may be sent to an electronic control unit (ECU) via a remote or nearby server, so as to acquire a state of a communication module associated with the first on-board network or an overall software state.
  • ECU electronice control unit
  • An on-board network channel abnormality could occur for a large number of reasons; for example, a software fault occurring in the electronic control unit (ECU), such as a defect or conflict in the transmission protocol or software programs, with the result that on-board network communication becomes disordered or unable to function.
  • ECU electronice control unit
  • the method 1000 further comprises: upon determining that a fault has occurred in a communication module associated with the first on-board network, rebooting the communication module by a software reset. That is, if a fault or problem only occurs on a CAN module, one may consider restoring the CAN module by a software reset. Meanwhile, if the electrical/electronic architecture is able to support the sending and receiving of CAN PDUs over Ethernet, then PDU forwarding is carried out based on a PDU routing module in the ECU (e.g. radar/driving assistance system/video ECU, etc.), to ensure that information requested by the functional layer is transmitted.
  • a PDU routing module in the ECU e.g. radar/driving assistance system/video ECU, etc.
  • control method for an electronic control unit (ECU) provided in the abovementioned one or more embodiments of the present invention may be implemented by means of a computer program.
  • the computer program is contained in a computer program product and, when executed by a processor, implements the control method for an electronic control unit (ECU) in one or more embodiments of the present invention.
  • a computer storage medium e.g. a USB stick
  • the control method for an electronic control unit (ECU) in one or more embodiments of the present invention can be performed by running the computer program.
  • Fig. 2 shows a structural schematic diagram of a control device 2000 for an electronic control unit (ECU) according to an embodiment of the present invention.
  • the control device 2000 for an electronic control unit (ECU) comprises: a determining means 210, a forwarding means 220 and a communication means 230, wherein the determining means 210 is configured to determine an abnormality of a first onboard network channel of the electronic control unit (ECU); the forwarding means 220 is configured to forward a protocol data unit (PDU) transmitted on the first on-board network channel to a second on-board network channel; and the communication means 230 is configured to conduct communication with another electronic control unit of the host vehicle via the second on-board network channel.
  • PDU protocol data unit
  • on-board network also called “in-vehicle network” means that communication among sensors, controllers and actuators in the vehicle is connected by point-to-point connecting lines to form a complex network structure.
  • the on-board network may comprise a CAN (Controller Area Network), LIN (Local Interconnect Network), Flexray, MOST (Media Oriented Systems Transport), Ethernet, etc.
  • the determining means 210 is configured to determine that communication is lost and that no protocol data units (PDU) are sent over the on-board network. That is to say, the abnormality of the first onboard network channel may be caused by a communication error or collapse of software on the vehicle.
  • PDU protocol data units
  • the forwarding means 220 is configured to forward a protocol data unit (PDU) transmitted on the first on-board network channel to the second on-board network channel.
  • the forwarding means 220 comprises: a protocol conversion unit, for converting a PDU/message of a first communication protocol to a PDU/message of a second communication protocol for transmission on the second on-board network channel, wherein the first on-board network channel supports the first communication protocol, and the second on-board network channel supports the second communication protocol.
  • the communication means 230 is configured to conduct communication with another electronic control unit of the host vehicle via the second on-board network channel. This makes it possible to ensure that information required by a functional layer (of the other electronic control unit of the host vehicle, e.g. a higher-level electronic control unit) is sent promptly from the present electronic control unit (ECU), ensuring the correct execution of functions.
  • the first on-board network channel is a CAN channel
  • the second on-board network channel is an Ethernet channel
  • CAN is an abbreviation for Controller Area Network, being a serial data communication protocol, with a maximum communication rate of 1 Mbps.
  • master/slave distinction in CAN data communication any node can launch data communication with any other (one or more) node, with the communication sequence being determined by the order of information priority of the various nodes.
  • CAN is able to be widely used in a variety of applications, from vehicle navigation systems to engine control systems.
  • On-board Ethernet is based on traditional industrial Ethernet technology; it likewise uses the lOOBase- TX physical layer protocol, being an interface capable of performing differential transmission corresponding to a rate of 100 Mbps. On-board Ethernet can achieve bidirectional transmission at 100 Mbps.
  • the device 2000 further comprises: a receiving means, for receiving a diagnostic command via the second on-board network channel; and a feedback means, for returning error information to a diagnostic apparatus via the second on-board network channel, the error information comprising a state of a communication module associated with a first on-board network or an overall software state. That is to say, in this embodiment, when a fault occurs in a first on-board network (e.g. when there is no CAN communication), the control device 2000 for an electronic control unit (ECU) can make an attempt to report an error code to a diagnostic apparatus via an Ethernet channel.
  • ECU electronice control unit
  • a diagnostic command of the diagnostic apparatus may be sent to an electronic control unit (ECU) (control device 2000 for an electronic control unit (ECU)) via a remote or nearby server, so as to acquire a state of a communication module associated with the first on-board network or an overall software state via the feedback means.
  • ECU electronice control unit
  • ECU control device 2000 for an electronic control unit
  • a remote or nearby server so as to acquire a state of a communication module associated with the first on-board network or an overall software state via the feedback means.
  • An on-board network channel abnormality could occur for a large number of reasons; for example, a software fault occurring in the electronic control unit (ECU), such as a defect or conflict in the transmission protocol or software programs, with the result that on-board network communication becomes disordered or unable to function.
  • ECU electronice control unit
  • the device 2000 further comprises: a rebooting means for, upon determining that a fault has occurred in a communication module associated with the first on-board network, rebooting the communication module by a software reset. That is, if a fault or problem only occurs on a CAN module, one may consider restoring the CAN module by a software reset; in this way, it is possible to promptly deal with a communication fault that occurs in the electronic control unit (ECU).
  • a rebooting means for, upon determining that a fault has occurred in a communication module associated with the first on-board network, rebooting the communication module by a software reset. That is, if a fault or problem only occurs on a CAN module, one may consider restoring the CAN module by a software reset; in this way, it is possible to promptly deal with a communication fault that occurs in the electronic control unit (ECU).
  • ECU electronice control unit
  • control device 2000 for an electronic control unit may be integrated in various types of electronic control unit (ECU) of a vehicle (including but not limited to a radar sensor/Dasy/video, etc.).
  • control scheme for an electronic control unit (ECU) in embodiments of the present invention makes full use of two on-board network channels by which the electronic control unit conducts communication (e.g. a CAN channel and an Ethernet channel); when a problem occurs in one of the two channels, a protocol data unit (PDU) is transferred to the other channel for transmission (based on support by the whole-vehicle electrical/electronic architecture), thereby ensuring the correct execution of ECU functions.
  • the control scheme for an electronic control unit (ECU) in embodiments of the present invention may also perform checking and restoring operations via the other channel, in order to promptly deal with a communication fault that occurs in the electronic control unit (ECU).

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

La présente invention concerne un procédé de commande pour une unité de commande électronique (ECU), le procédé comprenant : la détermination d'une anomalie d'un premier canal de réseau embarqué de l'unité de commande électronique (ECU) ; la transmission d'une unité de données de protocole (PDU) transmise sur le premier canal de réseau embarqué à un second canal de réseau embarqué ; et la conduite d'une communication avec une autre unité de commande électronique d'un véhicule hôte via le second canal de réseau embarqué. La présente invention concerne également un dispositif de commande pour une unité de commande électronique (ECU), un support de stockage informatique, un produit de programme informatique, une unité de commande électronique et un véhicule.
PCT/EP2022/071939 2021-08-31 2022-08-04 Procédé et dispositif de commande pour unité de commande électronique (ecu) WO2023030818A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111012587.4 2021-08-31
CN202111012587.4A CN115729202A (zh) 2021-08-31 2021-08-31 电子控制单元ecu的控制方法及设备

Publications (1)

Publication Number Publication Date
WO2023030818A1 true WO2023030818A1 (fr) 2023-03-09

Family

ID=83113062

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/071939 WO2023030818A1 (fr) 2021-08-31 2022-08-04 Procédé et dispositif de commande pour unité de commande électronique (ecu)

Country Status (3)

Country Link
CN (1) CN115729202A (fr)
TW (1) TW202315371A (fr)
WO (1) WO2023030818A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170288951A1 (en) * 2016-03-31 2017-10-05 Honda Motor Co., Ltd. Vehicle control system, motor drive controller, and management controller
CN112291194A (zh) * 2020-09-27 2021-01-29 上海赫千电子科技有限公司 一种基于车载网络中ecu的状态管理方法、装置及智能汽车

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170288951A1 (en) * 2016-03-31 2017-10-05 Honda Motor Co., Ltd. Vehicle control system, motor drive controller, and management controller
CN112291194A (zh) * 2020-09-27 2021-01-29 上海赫千电子科技有限公司 一种基于车载网络中ecu的状态管理方法、装置及智能汽车

Also Published As

Publication number Publication date
TW202315371A (zh) 2023-04-01
CN115729202A (zh) 2023-03-03

Similar Documents

Publication Publication Date Title
US10710522B2 (en) Diagnostic methods and apparatuses in vehicle network
US10623291B2 (en) Operation method of communication node for detecting link errors in network
JP2018518857A (ja) 車両の電子制御システムに冗長性を付与する方法及び装置
Kopetz A comparison of TTP/C and FlexRay
US10673986B2 (en) Operation method of communication node for selective wake-up in vehicle network
US20070288585A1 (en) Cluster system
US10594587B2 (en) Operation method of communication node for diagnosing vehicle network
US10050864B2 (en) Operation mode transition method in network
Kimm et al. Integrated fault tolerant system for automotive bus networks
WO2013024695A1 (fr) Dispositif de commande de véhicule et système de commande de véhicule
KR20210077767A (ko) 차량용 데이터 교환 장치와 데이터 교환 방법, 차량의 차량 부품용 장치와 방법 및 컴퓨터 프로그램
US9952919B2 (en) Semantic deduplication
Scholz et al. Open source implementation of ECSS CAN bus protocol for CubeSats
CN107920033B (zh) 在车辆网络中用于镜像的通信节点的操作方法及通信节点
WO2023030818A1 (fr) Procédé et dispositif de commande pour unité de commande électronique (ecu)
US20190305983A1 (en) Method and apparatus for configuring backup path in vehicle network
CN109150724B (zh) 一种通信方法和网卡
JP6134720B2 (ja) 接続方法
JP7463870B2 (ja) 車載装置、車載通信システムおよび通信制御方法
US20050215128A1 (en) Remote device probing for failure detection
KR101712370B1 (ko) 에러 패킷 분석을 지원하기 위한 이더넷 장치 및 시스템
Seo et al. A reliable gateway for in-vehicle networks
KR101417402B1 (ko) 차량 네트워크에서의 게이트웨이 오류 대처 장치 및 그 방법
JP4864755B2 (ja) データ処理システム及び診断方法
KR100974404B1 (ko) 이중화 구조를 갖는 ｃａｎ용 ｉｅｅｅ 1451 기반 스마트 모듈

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22760965

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE