In-vehicle device, abnormality detection method, and abnormality detection program

Abstract

The in-vehicle device includes a reception unit that receives a plurality of change information each indicating a change in a measurement result of a plurality of sensors mounted on a vehicle via a transmission path, a delay processing unit that performs delay processing of at least any one of the plurality of change information received by the reception unit, and a detection unit that detects an anomaly based on an internal output sequence that is an output sequence of the plurality of change information output by the delay processing unit.

Description

Technical Field

[0001] This disclosure relates to vehicle-mounted devices, anomaly detection methods, and anomaly detection procedures.

[0002] This application claims priority based on Japanese Patent Application No. 2021-121511, filed on July 26, 2021, the entire contents of which are incorporated herein by reference. Background Technology

[0003] Patent Document 1 (Japanese Patent Application Publication No. 2012-190408) discloses an anomaly diagnosis device. This device diagnoses anomalies in a system that utilizes multiple subsystems to form a hierarchical structure. It comprises: a normal operation model storage unit that stores normal operation models for the system and each subsystem; an actual operation time action extraction unit that extracts actual operation time action data for the system and each subsystem; a normal operation model comparison unit that, for the system and each subsystem, performs a local determination that sets "normal" when the normal operation model includes the actual operation time action data and sets "possible anomaly" when it does not; and a comprehensive determination unit that, when the local determination related to the system is "possible anomaly," and all local determinations included in the tracing path from the lowest-level subsystem to the highest-level subsystem of the hierarchical structure are "possible anomalies," sets "high probability of anomaly," and identifies the lowest-level subsystem as an abnormal location.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2012-190408 Summary of the Invention

[0007] The vehicle-mounted device disclosed herein is mounted on a vehicle and includes: a receiving unit that receives, via a transmission path, a plurality of change information representing changes in measurement results of a plurality of sensors mounted on the vehicle; a delay processing unit that performs delay processing on at least one of the plurality of change information received by the receiving unit and outputs it; and a detection unit that detects an anomaly based on an internal output sequence, the internal output sequence being an output sequence of the plurality of change information output by the delay processing unit.

[0008] The anomaly detection method disclosed herein is an anomaly detection method in an on-board device mounted in a vehicle, comprising: receiving, via a transmission path, a plurality of change information representing changes in measurement results of a plurality of sensors mounted in the vehicle; performing a delay processing step of outputting at least one of the received plurality of change information by assigning a delay; and detecting anomalies based on an internal output sequence that is an output sequence of the plurality of change information.

[0009] The anomaly detection program disclosed herein is an anomaly detection program installed in an in-vehicle device of a vehicle, wherein the anomaly detection program enables a computer to function as the following units: a receiving unit, which receives via a transmission path multiple change information representing changes in measurement results of multiple sensors installed in the vehicle; a delay processing unit, which performs delay processing by delaying at least one of the multiple change information received by the receiving unit and outputting it; and a detection unit, which detects anomalies based on an internal output sequence, the internal output sequence being an output sequence of the multiple change information output by the delay processing unit.

[0010] One embodiment of this disclosure can be implemented not only as an in-vehicle device with such a characteristic processing unit, but also as a semiconductor integrated circuit that implements part or all of the in-vehicle device, or as an in-vehicle communication system that includes the in-vehicle device. Attached Figure Description

[0011] Figure 1 This is a diagram illustrating the structure of an in-vehicle communication system according to an embodiment of the present disclosure.

[0012] Figure 2 This is a diagram illustrating an example of sensor data transmitted by a sensor in a vehicle communication system according to an embodiment of the present disclosure.

[0013] Figure 3 This is a diagram illustrating an example of sensor data transmitted by a sensor in a vehicle communication system according to an embodiment of the present disclosure.

[0014] Figure 4 This is a diagram illustrating an example of sensor data transmitted by a sensor in a vehicle communication system according to an embodiment of the present disclosure.

[0015] Figure 5 This is a diagram illustrating the structure of the integrated ECU according to an embodiment of the present disclosure.

[0016] Figure 6 This diagram illustrates an example of a delay meter stored in the storage unit of an integrated ECU according to an embodiment of the present disclosure.

[0017] Figure 7This diagram illustrates an example of a correspondence table stored in the storage unit of an integrated ECU according to an embodiment of the present disclosure.

[0018] Figure 8 This diagram illustrates an example of delay processing performed by the delay processing unit in the integrated ECU according to embodiments of the present disclosure.

[0019] Figure 9 This diagram illustrates an example of an anomaly type table stored in the storage unit of the integrated ECU according to an embodiment of the present disclosure.

[0020] Figure 10 This is a flowchart illustrating an example of the operational process when an abnormality is detected in the integrated ECU according to an embodiment of this disclosure. Detailed Implementation

[0021] Previously, techniques for detecting anomalies in vehicle systems have been proposed.

[0022] In addition to the technology described in Patent Document 1, the following technology is proposed: for the purpose of vehicle anti-theft, based on the measurement results of sensors, anomalies are detected, such as when a person other than a legitimate user forcibly opens the vehicle door, and an alarm is issued.

[0023] [The problem this disclosure aims to solve]

[0024] However, in existing anomaly detection methods, false detections sometimes occur in anomaly detection based on sensor measurement results, depending on the condition of the vehicle network.

[0025] This disclosure was made to solve the above-mentioned problems, and its purpose is to provide an on-board device, an anomaly detection method, and an anomaly detection procedure that can suppress false detections in anomaly detection based on sensor measurement results.

[0026] [The Effects of This Disclosure]

[0027] According to this disclosure, it is possible to suppress false detections in anomaly detection based on sensor measurement results.

[0028] [Description of embodiments of this disclosure]

[0029] First, the contents of the embodiments disclosed herein will be listed for explanation.

[0030] (1) The vehicle-mounted device according to the embodiments of the present disclosure is mounted on a vehicle, and includes: a receiving unit that receives, via a transmission path, a plurality of change information representing changes in measurement results of a plurality of sensors mounted on the vehicle; a delay processing unit that performs delay processing to output at least one of the plurality of change information received by the receiving unit; and a detection unit that detects an anomaly based on an internal output sequence, wherein the internal output sequence is an output sequence of the plurality of change information output by the delay processing unit.

[0031] In this way, by performing delay processing on at least one of the received multiple change information and outputting a delay, and by detecting abnormal structures based on the internal output sequence of the multiple change information, for example, by determining whether an anomaly has occurred based on the internal output sequence that is closer to the external transmission sequence of the change information in the sensor and reduces the impact of the transmission delay of the change information, false detections caused by the transmission delay of the change information can be suppressed. Therefore, false detections in anomaly detection based on sensor measurement results can be suppressed.

[0032] (2) The delay processing unit may also adjust the delay amount in the delay processing based on the load of the transmission path.

[0033] With this structure, the delay amount in the delay processing can be set to a value corresponding to the transmission delay of the change information. Therefore, compared with the structure that sets the delay amount to a predetermined value, it is possible to more accurately determine whether an anomaly has occurred based on the internal output sequence, which is closer to the external transmission sequence of the change information in the sensor.

[0034] (3) The delay processing unit may also impose a delay on the change information in a way that makes the internal output sequence different from the received sequence of the multiple change information received by the receiving unit.

[0035] Based on such a structure, for example, it is possible to more accurately determine whether an anomaly has occurred based on the internal output sequence, which eliminates the inversion of the received sequence caused by the transmission delay of the changed information.

[0036] (4) The delay processing unit may also assign a delay corresponding to the load of the transmission path to the change information received by the receiving unit via other transmission paths.

[0037] Based on this structure, it is possible to determine whether an anomaly has occurred by assigning a delay corresponding to the transmission delay of the changed information to other changed information, thereby offsetting the transmission delay.

[0038] (5) The delay processing unit may also adjust the delay amount in the delay processing based on the measurement results of the load of multiple transmission paths.

[0039] With this structure, the transmission delay of multiple changing information can be comprehensively considered in delay processing to set the delay and assign it to the changing information.

[0040] (6) The vehicle-mounted device may also include a storage unit, which stores correspondence information indicating the correspondence between the transmission path that meets the specified load conditions and the change information to which a delay should be assigned, and the delay processing unit may also perform the delay processing based on the correspondence information.

[0041] Based on this structure, the delay amount in delay processing can be easily set according to the specified correspondence between the transmission path and the change information to be assigned delay.

[0042] (7) The vehicle-mounted device may also include a storage unit, which stores anomaly type information representing the correspondence between the types of anomalies detected by the detection unit and external transmission sequences based on the multiple change information of the multiple sensors. The detection unit may also detect multiple types of anomalies based on the anomaly type information and the internal output sequence.

[0043] This structure enables the detection of various types of anomalies based on the internal output sequence.

[0044] (8) The anomaly detection method disclosed herein is an anomaly detection method in an on-board device mounted on a vehicle, comprising: receiving, via a transmission path, a plurality of change information representing changes in measurement results of a plurality of sensors mounted on the vehicle; performing a delay processing step of outputting at least one of the received plurality of change information by assigning a delay; and detecting anomalies based on an internal output sequence which is an output sequence of the plurality of change information.

[0045] Thus, by performing delay processing on at least one of the received multiple change information items and outputting a delayed result, and then detecting anomalies based on the internal output sequence of the multiple change information items, it is possible to determine whether an anomaly has occurred based on an internal output sequence that is closer to the external transmission sequence of the change information in the sensor and has reduced the impact of the transmission delay of the change information. Therefore, false detections caused by the transmission delay of the change information can be suppressed. Consequently, false detections in anomaly detection based on sensor measurement results can be suppressed.

[0046] (9) The anomaly detection program involved in the embodiments of this disclosure is an anomaly detection program installed in an in-vehicle device of a vehicle, wherein the anomaly detection program enables a computer to function as the following units: a receiving unit that receives, via a transmission path, a plurality of change information representing changes in measurement results of a plurality of sensors installed in the vehicle; a delay processing unit that performs delay processing by delaying at least one of the plurality of change information received by the receiving unit and outputting it; and a detection unit that detects anomalies based on an internal output sequence, the internal output sequence being an output sequence of the plurality of change information output by the delay processing unit.

[0047] In this way, by performing delay processing on at least one of the received multiple change information and outputting a delay, and by detecting abnormal structures based on the internal output sequence of the multiple change information, for example, by determining whether an anomaly has occurred based on the internal output sequence that is closer to the external transmission sequence of the change information in the sensor and reduces the impact of the transmission delay of the change information, false detections caused by the transmission delay of the change information can be suppressed. Therefore, false detections in anomaly detection based on sensor measurement results can be suppressed.

[0048] The embodiments of this disclosure will now be described using the accompanying drawings. Furthermore, identical or equivalent parts in the drawings will be labeled with the same reference numerals, and their descriptions will not be repeated. Additionally, at least some of the embodiments described below can be combined arbitrarily.

[0049] [Structure and Basic Movements]

[0050] <Vehicle Communication System>

[0051] Figure 1 This is a diagram illustrating the structure of an in-vehicle communication system according to an embodiment of this disclosure. (Refer to...) Figure 1 The vehicle communication system 301 includes an integrated ECU (Electronic Control Unit) 101, a separate ECU 201, and sensors 51A, 51B, and 51C. The vehicle communication system 301 is mounted on a vehicle 1. Hereinafter, sensors 51A, 51B, and 51C will also be referred to as sensor 51. The integrated ECU 101, the separate ECU 201, and the sensor 51 are an example of a vehicle-mounted device.

[0052] Sensor 51A is connected to the individual ECU 201 via cable 5A. Sensor 51B is connected to the individual ECU 201 via cable 5B. Sensor 51C is connected to the integrated ECU 101 via cable 5C. Individual ECU 201 is connected to the integrated ECU 101 via cable 3. Hereinafter, cables 5A, 5B, and 5C will also be referred to as cable 5.

[0053] Alternatively, the vehicle communication system 301 can also have a structure with two or more sensors 51. Furthermore, the vehicle communication system 301 can also have a structure with two or more integrated ECUs 101. Additionally, the vehicle communication system 301 can also have a structure with two or more individual ECUs 201. When the vehicle communication system 301 has two or more individual ECUs 201, the network topology of the integrated ECU 101 and the multiple individual ECUs 201 can be a bus topology or a star topology centered on the integrated ECU 101.

[0054] Cables 3 and 5 are, for example, transmission lines conforming to standards such as CAN (Controller Area Network) (registered trademark), FlexRay (registered trademark), MOST (Media Oriented Systems Transport) (registered trademark), Ethernet (registered trademark), and LIN (Local Interconnect Network). Alternatively, cables 3 and 5 can also be signal lines capable of transmitting analog signals.

[0055] Sensors 51A and 51B store sensor data representing measurement results in frames conforming to CAN, Ethernet, or LIN standards and send them to the individual ECU 201. Sensor 51C stores sensor data representing measurement results in frames conforming to CAN, Ethernet, or LIN standards and sends them to the integrated ECU 101.

[0056] (Sensor Data SA)

[0057] For example, sensor 51A is a fingerprint sensor that detects when a person touches the body of vehicle 1. Sensor 51A performs measurements periodically, for example, while vehicle 1 is parked, generating sensor data SA indicating whether a person has touched the body of vehicle 1, storing the generated sensor data SA in a frame and sending it to a separate ECU 201.

[0058] Figure 2 This is a diagram illustrating an example of sensor data transmitted by sensors in an in-vehicle communication system according to an embodiment of the present disclosure. Figure 2 A timing diagram of sensor data SA transmitted by sensor 51A is shown. Figure 2 In the middle, the horizontal axis represents time.

[0059] Reference Figure 2When a person does not touch the body of vehicle 1, sensor 51A stores sensor data SA with a value of "0" in a frame and sends it to individual ECU 201. When a person touches the body of vehicle 1, sensor data SA with a value of "1" is stored in a frame and sent to individual ECU 201.

[0060] The value of sensor data SA changes from "0" to "1" for example, when a person touches the body of vehicle 1 at time ta1. The timed sensor data SA that changes the value from "0" to "1" in the sensor data SA periodically sent by sensor 51A is also called "sensor data SAV".

[0061] (Sensor data SB)

[0062] For example, sensor 51B is a vibration sensor that detects the vibration of vehicle 1. Sensor 51B periodically measures, for example, while vehicle 1 is stationary, generating sensor data SB representing the magnitude of the vibration of vehicle 1, storing the generated sensor data SB in a frame, and sending it to individual ECU 201.

[0063] Figure 3 This is a diagram illustrating an example of sensor data transmitted by sensors in an in-vehicle communication system according to an embodiment of the present disclosure. Figure 3 A timing diagram of sensor data SB transmitted by sensor 51B is shown. Figure 3 In the middle, the horizontal axis represents time.

[0064] Reference Figure 3 When the magnitude of the vibration of vehicle 1 is less than a specified value, sensor 51B stores sensor data SB with a value of "0" in a frame and sends it to individual ECU 201. When the magnitude of the vibration of vehicle 1 is greater than or equal to the specified value, sensor data SB with a value of "1" is stored in a frame and sent to individual ECU 201.

[0065] The value of sensor data SB changes from "0" to "1" for example, when the magnitude of the vibration of vehicle 1 reaches a specified value at time tb1. The timed sensor data SB that changes the value of sensor data SB from "0" to "1" periodically sent by sensor 51B is also called "sensor data SBV".

[0066] (Sensor Data SC)

[0067] For example, sensor 51C is a door handle sensor that detects whether the door of vehicle 1 is open. Sensor 51C periodically measures, for example, while vehicle 1 is parked, generating sensor data SC indicating whether the door of vehicle 1 is open, storing the generated sensor data SC in a frame and sending it to a separate ECU 201.

[0068] Figure 4 This is a diagram illustrating an example of sensor data transmitted by sensors in an in-vehicle communication system according to an embodiment of the present disclosure. Figure 4 A timing diagram of sensor data SC transmitted by sensor 51C is shown. Figure 4 In the middle, the horizontal axis represents time.

[0069] Reference Figure 4 When the door of vehicle 1 is closed, sensor 51C stores sensor data SC with a value of "0" in a frame and sends it to integrated ECU 101. When the door of vehicle 1 is open, sensor data SC with a value of "1" is stored in a frame and sent to integrated ECU 101.

[0070] The value of sensor data SC changes from "0" to "1" for example, when the door of vehicle 1 is opened at time tc1. The timed sensor data SC that changes the value from "0" to "1" in the sensor data SC periodically sent by sensor 51C is also called "sensor data SCV".

[0071] Alternatively, sensors 51A and 51B can also be configured to send analog signals representing measurement results to a separate ECU 201. Additionally, sensor 51C can also be configured to send analog signals representing measurement results to the integrated ECU 101.

[0072] Individual ECU 201 relays frames received from sensors 51A and 51B to integrated ECU 101. Alternatively, individual ECU 201 can also have the following structure: it obtains sensor data SA from frames received from sensor 51A, processes the obtained sensor data SA, stores the processed sensor data SA in a frame, and sends it to integrated ECU 101. Alternatively, individual ECU 201 can also have the following structure: it obtains sensor data SB from frames received from sensor 51B, processes the obtained sensor data SB, stores the processed sensor data SB in a frame, and sends it to integrated ECU 101.

[0073] For example, the integrated ECU 101 generates control information for controlling an actuator (not shown) connected to a separate ECU 201, and sends a frame containing the generated control information to the separate ECU 201. The separate ECU 201 receives the control information from the integrated ECU 101 and drives the actuator based on the received control information. Thus, the vehicle communication system 301 is a network structure where the integrated ECU 101 controls the individual ECU 201's drive of the actuator. In such a network structure, new functions can be added to the vehicle communication system 301 through simple methods such as updating the firmware of the integrated ECU 101, thus flexibly responding to the need for additional functions in the vehicle communication system 301.

[0074] <Comprehensive ECU>

[0075] Figure 5 This is a diagram illustrating the structure of the integrated ECU according to an embodiment of this disclosure. (Refer to...) Figure 5 The integrated ECU 101 includes communication ports 11A and 11B, a receiving unit 12, a delay processing unit 13, a detection unit 14, a notification unit 15, and a storage unit 16.

[0076] The receiving unit 12, delay processing unit 13, detection unit 14, and notification unit 15 are implemented, for example, by processors such as CPUs (Central Processing Units) and DSPs (Digital Signal Processors). The storage unit 16 is, for example, a non-volatile memory. Alternatively, at least one of the notification unit 15 and the storage unit 16 may be located outside the integrated ECU 101.

[0077] Communication ports 11A and 11B are terminals for connecting cables. A separate ECU 201 is connected to communication port 11A via cable 3. A sensor 51C is connected to communication port 11B via cable 5C.

[0078] (Reception of sensor data)

[0079] The receiving unit 12 receives multiple change information, which respectively represent the changes in the measurement results of multiple sensors 51, via cables 3 and 5.

[0080] More specifically, the receiving unit 12 receives frames periodically transmitted from the sensor 51A via cable 5A, the individual ECU 201, cable 3, and communication port 11A, and obtains sensor data SA from the received frames. The receiving unit 12 confirms the value of the obtained sensor data SA and determines whether the obtained sensor data SA is sensor data SAV. Specifically, the receiving unit 12 detects sensor data SA with a value of "1" and a value of "0" obtained from the immediately preceding received frame as sensor data SAV. The receiving unit 12 outputs the detected sensor data SAV to the delay processing unit 13.

[0081] Additionally, the receiving unit 12 receives frames periodically transmitted from the sensor 51B via cable 5B, individual ECU 201, cable 3, and communication port 11A, and obtains sensor data SB from the received frames. The receiving unit 12 confirms the value of the obtained sensor data SB and determines whether the obtained sensor data SB is sensor data SBV. Specifically, the receiving unit 12 detects sensor data SB with a value of "1" and a value of "0" from the immediately preceding received frame as sensor data SBV. The receiving unit 12 outputs the detected sensor data SBV to the delay processing unit 13.

[0082] Additionally, the receiving unit 12 receives frames periodically transmitted from the sensor 51C via cable 5C and communication port 11B, and obtains sensor data SC from the received frames. The receiving unit 12 confirms the value of the obtained sensor data SC and determines whether the obtained sensor data SC is sensor data SCV. Specifically, the receiving unit 12 detects sensor data SC with a value of "1" and a value of "0" from the immediately preceding received frame as sensor data SCV. The receiving unit 12 outputs the detected sensor data SCV to the delay processing unit 13.

[0083] Sensor data SAV, SBV, and SCV are examples of change information. Hereinafter, sensor data SAV, SBV, and SCV will also be referred to as "sensor data SV".

[0084] For example, when the receiving unit 12 detects sensor data SAV, it measures the load of the transmission path TLA, which is composed of cable 5A and cable 3. As an example, the receiving unit 12 monitors the reception frequency fa of the frame storing sensor data SAV. When the receiving unit 12 detects sensor data SAV, it calculates the load of the transmission path TLA as a percentage based on a predetermined formula and the reception frequency fa, and outputs the load information La, which represents the calculated load, to the delay processing unit 13.

[0085] Additionally, for example, when the receiving unit 12 detects sensor data SBV, it measures the load of the transmission path TLB formed by cable 5B and cable 3. As an example, the receiving unit 12 monitors the reception frequency fb of the frame storing the sensor data SB. When the receiving unit 12 detects sensor data SBV, it calculates the load of the transmission path TLB as a percentage based on a predetermined formula and the reception frequency fb, and outputs the load information Lb representing the calculated load to the delay processing unit 13.

[0086] Additionally, for example, when the receiving unit 12 detects sensor data SCV, it measures the load of the transmission path TLC formed by the cable 5C. As an example, the receiving unit 12 monitors the reception frequency fc of the frame storing the sensor data SC. When the receiving unit 12 detects sensor data SCV, it calculates the load of the transmission path TLC as a percentage based on a predetermined formula and the reception frequency fc, and outputs load information Lc representing the calculated load to the delay processing unit 13.

[0087] (Delayed processing)

[0088] The delay processing unit 13 performs delay processing on at least one of the sensor data SV received by the receiving unit 12 and outputs it.

[0089] Figure 6 This diagram illustrates an example of a delay meter stored in the storage unit of the integrated ECU according to an embodiment of this disclosure. (Refer to...) Figure 6 The storage unit 16 stores a delay table T1 that represents the correspondence between the load of the transmission path and the delay amount to be assigned in delay processing. The delay table T1 shows that when the load of the transmission path is less than 10%, the delay amount to be assigned in delay processing is 0 seconds; when the load of the transmission path is 10% or more but less than 50%, the delay amount to be assigned in delay processing is 1.2 milliseconds; and when the load of the transmission path is 50% or more, the delay amount to be assigned in delay processing is 2.4 milliseconds.

[0090] Figure 7 This diagram illustrates an example of a mapping table stored in the storage unit of the integrated ECU according to an embodiment of this disclosure. (Refer to...) Figure 7 The storage unit 16 stores a correspondence table T2 that shows the relationship between transmission paths that meet a load requirement of, for example, 10% or more, as specified by a given condition, and the sensor data SV that should be given a delay. Correspondence table T2 shows that when the load on transmission path TLA is 10% or more, a delay should be given to sensor data SBV and SCV; when the load on transmission path TLB is 10% or more, a delay should be given to sensor data SCV. Correspondence table T2 is an example of this correspondence information.

[0091] For example, the delay processing unit 13 adjusts the delay amount in the delay processing based on the load of the transmission path. Additionally, for example, the delay processing unit 13 assigns a delay corresponding to the load of the transmission path to the sensor data SV received by the receiving unit 12 via other transmission paths. More specifically, the delay processing unit 13 performs delay processing based on the delay level table T1 and the correspondence table T2 in the storage unit 16. That is, the delay processing unit 13 selectively assigns a delay to the sensor data SV based on the delay level table T1 and the correspondence table T2.

[0092] For example, the delay processing unit 13 adjusts the delay amount in the delay processing based on the measurement results of the load amount of the transmission paths TLA, TLB, and TLC. More specifically, the delay processing unit 13 receives sensor data SAV, SBV, and SCV and load information La, Lb, and Lc, and dynamically sets the delay amount of the sensor data SAV, SBV, and SCV based on the load amount, delay amount table T1, and corresponding table T2 represented by the load information La, Lb, and Lc, respectively.

[0093] As an example, when the load of transmission path TLA represented by load information La is 5%, the load of transmission path TLB represented by load information Lb is 60%, and the load of transmission path TLC represented by load information Lc is 3%, the delay processing unit 13 sets the delay time of sensor data SAV and SBV to 0 based on the delay table T1 and the corresponding table T2 in the storage unit 16, and sets the delay time of sensor data SCV to 2.4 milliseconds.

[0094] Figure 8 This diagram illustrates an example of delay processing performed by the delay processing unit in the integrated ECU according to embodiments of the present disclosure. Figure 8 The time-series diagrams of sensor data SAV, SBV, and SCV are shown. Figure 8 In the middle, the horizontal axis represents time.

[0095] Reference Figure 8 Let's assume that sensor data SA transmitted by sensor 51A changes from "0" to "1" at time ta1, sensor data SB transmitted by sensor 51B changes from "0" to "1" at time tb1 (later than time ta1), and sensor data SC transmitted by sensor 51C changes from "0" to "1" at time tc1 (later than time tb1). That is, sensor 51A transmits sensor data SAV to individual ECU 201 at time ta1, sensor 51B transmits sensor data SBV to individual ECU 201 at time tb1, and sensor 51C transmits sensor data SCV to integrated ECU 101 at time tc1. Therefore, the external transmission sequence of sensor data SV transmitted by sensor 51 is the order of sensor data SAV, sensor data SBV, and sensor data SCV.

[0096] Furthermore, in the integrated ECU 101, the receiving unit 12 detects sensor data SAV at time ta2 and outputs it to the delay processing unit 13; at time tc2, which is later than time ta2, it detects sensor data SCV and outputs it to the delay processing unit 13; and at time tb2, which is later than time tc2, it detects sensor data SBV and outputs it to the delay processing unit 13. Therefore, the receiving sequence of sensor data SV received by the receiving unit 12 is sensor data SAV, sensor data SCV, and sensor data SBV in that order.

[0097] That is, although the transmission timing of sensor data SBV sent by sensor 51B is earlier than the transmission timing of sensor data SCV sent by sensor 51C, the reception timing of sensor data SBV received by receiving unit 12 is later than the reception timing of sensor data SCV due to the transmission delay of sensor data SB based on the communication volume of transmission path TLB and the processing load in individual ECU 201.

[0098] The delay processing unit 13 applies a delay to the sensor data SCV so that the internal output sequence, which is the output sequence of the sensor data SV from the delay processing unit 13, is different from the received sequence of the sensor data SV received by the receiving unit 12.

[0099] More specifically, for example, the delay processing unit 13 receives sensor data SAV from the receiving unit 12 at time ta2 and outputs the sensor data SAV to the detection unit 14 at time ta2, without performing delay processing on the received sensor data SAV.

[0100] In addition, the delay processing unit 13 receives sensor data SCV from the receiving unit 12 at a time tc2 that is later than time ta2, and by holding the received sensor data SCV for 2.4 seconds, it outputs the sensor data SCV to the detection unit 14 at a time tc2d that is 2.4 seconds after time tc2.

[0101] In addition, the delay processing unit 13 receives sensor data SBV from the receiving unit 12 at a time tb2 that is later than time tc2, and outputs the sensor data SBV to the detection unit 14 at a time tb2 that is earlier than time tc2d, without performing delay processing on the received sensor data SBV.

[0102] That is, the delay processing unit 13 receives the sensor data SV from the receiving unit 12 in the order of sensor data SAV, sensor data SCV, and sensor data SBV, and outputs it to the detection unit 14 in the same order.

[0103] (Detection and processing)

[0104] The detection unit 14 detects anomalies based on the output sequence of the sensor data SV output by the delay processing unit 13, i.e., the internal output sequence. More specifically, the detection unit 14 detects anomalies based on the order in which the sensor data SV is received from the delay processing unit 13, i.e., the input sequence.

[0105] Figure 9 This diagram illustrates an example of an anomaly type table stored in the storage unit of the integrated ECU according to an embodiment of this disclosure. (Refer to...) Figure 9 The storage unit 16 stores an anomaly type table T3, which represents the correspondence between the types of anomalies detected by the detection unit 14 and the external transmission sequence of sensor data SV sent by the sensor 51. The anomaly type table T3 is an example of anomaly type information.

[0106] For example, the anomaly type table T3 shows the correspondence between an anomaly and the external transmission sequence of sensor data SV sent by sensor 51, which serves as the criterion for determining whether the anomaly has occurred.

[0107] Specifically, the anomaly type table T3 shows that no anomaly X occurs when the external transmission sequence of sensor data SV sent by sensor 51 is sensor data SAV, sensor data SBV, and sensor data SCV in that order. Anomaly X is, for example, an abnormal entry into vehicle 1, i.e., a situation where someone other than a regular user forcibly opens the door of vehicle 1 and enters.

[0108] Additionally, the anomaly type table T3 shows that no anomaly Y occurs when the external transmission sequence of sensor data SV sent by sensor 51 is sensor data SAV and sensor data SBV in that order, and the transmission interval between sensor data SAV and SBV is greater than S milliseconds. Anomaly Y is, for example, the shaking of vehicle 1.

[0109] The detection unit 14 detects multiple types of anomalies based on the anomaly type table T3 and the internal output sequence of sensor data SV output by the delay processing unit 13.

[0110] More specifically, if the input sequence of sensor data SV from the delay processing unit 13 is sensor data SAV, sensor data SBV, and sensor data SCV, the detection unit 14 determines that no abnormality X has occurred.

[0111] On the other hand, if the input sequence of sensor data SV from the delay processing unit 13 is different from the order of sensor data SAV, sensor data SBV, and sensor data SCV, the detection unit 14 determines that an anomaly X has occurred. Then, the detection unit 14 outputs detection information to the notification unit 15 indicating that an anomaly X has been detected.

[0112] Furthermore, if the input sequence of sensor data SV from the delay processing unit 13 is sensor data SAV and sensor data SBV in that order, and the timing interval between receiving sensor data SAV and SBV from the delay processing unit 13 is more than S milliseconds, the detection unit 14 determines that no abnormality Y has occurred.

[0113] On the other hand, if the input sequence of sensor data SV from the delay processing unit 13 is different from the order of sensor data SAV and sensor data SBV, or if the timing interval between receiving sensor data SAV and SBV from the delay processing unit 13 is less than S milliseconds, the detection unit 14 determines that an anomaly Y has occurred. Then, the detection unit 14 outputs detection information to the notification unit 15 indicating that an anomaly Y has been detected.

[0114] Upon receiving detection information from the detection department 14, the notification department 15 issues an alarm.

[0115] Refer again Figure 8 In the structure where the detection unit 14 detects anomalies based on the receiving sequence of sensor data SV received by the receiving unit 12, although the external transmission sequence of sensor data SV sent by sensor 51 is in the order of sensor data SAV, sensor data SBV, and sensor data SCV, since the receiving sequence of sensor data SV received by the receiving unit 12 is in the order of sensor data SAV, sensor data SCV, and sensor data SBV, it is falsely detected as anomaly X, and a false alarm is generated by the reporting unit 15.

[0116] In contrast, by detecting an abnormal structure based on the internal output sequence of sensor data SV output by the detection unit 14, it is possible to suppress false detection of anomalies caused by the reversal of the receiving sequence of sensor data SBV and sensor data SCV in the receiving unit 12 due to the transmission delay of sensor data SB.

[0117] [Action Flow]

[0118] Each device in the vehicle communication network according to the embodiments of this disclosure includes a computer containing a memory. The computer's CPU or other processing unit reads and executes a program containing part or all of the steps of the following flowchart and sequence from the memory. The programs for the multiple devices can be installed externally. The programs for the multiple devices are either stored in a recording medium or transmitted via a communication line.

[0119] Figure 10 This is a flowchart illustrating an example of the operational process when an abnormality is detected in the integrated ECU according to an embodiment of this disclosure.

[0120] Reference Figure 10First, the integrated ECU 101 waits for sensor data SV from sensor 51. More specifically, the receiving unit 12 in the integrated ECU 101 obtains sensor data from frames received directly from sensor 51 or via separate ECU 201, and determines whether the obtained sensor data is sensor data SV (in step S102, it is no).

[0121] Next, when the receiving unit 12 in the integrated ECU 101 receives sensor data SV from the sensor 51, that is, when sensor data SV is detected (yes in step S102), it measures the load of the transmission paths TLA, TLB, and TLC (step S104).

[0122] Next, the integrated ECU 101 sets the delay amounts of sensor data SAV, SBV, and SCV based on the load of transmission paths TLA, TLB, and TLC, delay table T1, and correspondence table T2, and performs delay processing. More specifically, the delay processing unit 13 in the integrated ECU 101 receives sensor data SAV, SAB, and SAC from the receiving unit 12, and assigns a delay to at least one of the received sensor data SAV, SAB, and SAC before outputting it (step S106).

[0123] Next, the detection unit 14 in the integrated ECU 101 performs detection processing based on the internal output sequence of sensor data SAV, SAB, and SAC output by the delay processing unit 13. More specifically, the detection unit 14 determines whether an anomaly has occurred based on the anomaly type table T3 in the storage unit 16 and the internal output sequence of sensor data SAV, SAB, and SAC output by the delay processing unit 13 (step S108).

[0124] Next, if the integrated ECU 101 determines that no abnormality has occurred (no in step S110), it waits for new sensor data SV from sensor 51 (no in step S102).

[0125] On the other hand, if the integrated ECU101 determines that an abnormality has occurred (yes in step S110), it issues an alarm (step S112).

[0126] Next, the integrated ECU 101 waits for new sensor data SV from sensor 51 (no in step S102).

[0127] Furthermore, in the vehicle communication system 301 according to the embodiments of this disclosure, the sensor 51 is a structure that periodically measures during the period when the vehicle 1 is parked, but it is not limited to this. The sensor 51 may also be structured to periodically measure during the period when the vehicle 1 is in motion, instead of during the period when the vehicle 1 is parked.

[0128] Furthermore, in the vehicle communication system 301 according to the embodiments of this disclosure, sensor 51A is structured to periodically generate sensor data SA and send it to a separate ECU 201, but is not limited to this. Sensor 51A may also be structured to periodically perform measurements and only send timed sensor data SA, whose value changes from "0" to "1" due to human contact with the vehicle body 1, to the separate ECU 201. That is, sensor 51A may also be structured to send sensor data SAV from sensor data SA to the separate ECU 201, without sending sensor data SA other than sensor data SAV.

[0129] Similarly, sensor 51B can also be structured as follows: it sends sensor data SBV from sensor data SB to the individual ECU 201, without sending sensor data SB other than sensor data SBV. Additionally, sensor 51C can also be structured as follows: it sends sensor data SCV from sensor data SC to the integrated ECU 101, without sending sensor data SC other than sensor data SCV.

[0130] Furthermore, in the integrated ECU 101 according to the embodiments of this disclosure, the delay processing unit 13 is structured to adjust the delay amount in delay processing based on the load of the transmission path, but it is not limited to this. The delay processing unit 13 may also be structured to adjust the delay amount based on the processing load of a separate ECU 201, other than the load of the transmission path.

[0131] Furthermore, in the integrated ECU 101 according to the embodiments of this disclosure, the delay processing unit 13 is configured to impose a delay on the sensor data SCV so that the internal output sequence of the sensor data SV is different from the received sequence of the sensor data SV received by the receiving unit 12, but it is not limited to this. The delay processing unit 13 may also be configured to impose a delay on the sensor data SCV and output it in a manner that makes the internal output sequence of the sensor data SV the same as the received sequence of the sensor data SV received by the receiving unit 12, and the output interval of the sensor data SV is different from the receiving interval of the sensor data SV received by the receiving unit 12.

[0132] Furthermore, in the integrated ECU 101 according to the embodiments of this disclosure, the delay processing unit 13 is configured to apply a delay corresponding to the load of the transmission path to the sensor data SV received by the receiving unit 12 via other transmission paths, but is not limited to this. The delay processing unit 13 may also be configured to not apply a delay corresponding to the load of the transmission path to the sensor data SV received by the receiving unit 12 via other transmission paths, but instead apply a delay to the sensor data SV received by the receiving unit 12 via a shared transmission path.

[0133] Furthermore, in the integrated ECU 101 according to the embodiments of this disclosure, the delay processing unit 13 is structured to adjust the delay amount in delay processing based on the measurement results of the load of the transmission paths TLA, TLB, and TLC, but it is not limited to this. The delay processing unit 13 may also be structured to adjust the delay amount in delay processing based on the measurement results of the load of a portion of the transmission paths TLA, TLB, and TLC.

[0134] However, in existing anomaly detection methods, false detections sometimes occur in anomaly detection based on sensor measurement results, depending on the condition of the in-vehicle network. Specifically, in structures that detect anomalies based on the received sequence of sensor data SV, false detections may occur, for example, due to the transmission delay of sensor data SV in the in-vehicle network, because the received sequence of sensor data SV differs from the external transmission sequence of sensor data SV in sensor 51.

[0135] In contrast, in the integrated ECU 101 according to the embodiments of this disclosure, the receiving unit 12 receives multiple sensor data SVs, each representing a change in the measurement results of multiple sensors 51 mounted on the vehicle 1, via a transmission path. The delay processing unit 13 performs delay processing, assigning a delay to at least one of the multiple sensor data SVs received by the receiving unit 12 and outputting it. The detection unit 14 detects anomalies based on the output sequence of the multiple sensor data SVs output by the delay processing unit 13, i.e., an internal output sequence.

[0136] In this way, by performing delay processing on at least one of the received sensor data SVs and outputting a delay, and detecting abnormal structures based on the internal output sequence of the multiple sensor data SVs, for example, it is possible to determine whether an anomaly has occurred based on the internal output sequence of content that is closer to the external transmission sequence of the sensor data SVs in the sensor, which reduces the impact of the transmission delay of the sensor data SVs, and thus suppress false detections caused by the transmission delay of the sensor data SVs.

[0137] Therefore, in the integrated ECU 101 according to the embodiments of this disclosure, it is possible to suppress the occurrence of false detections in anomaly detection based on the measurement results of sensor 51.

[0138] It should be considered that the above embodiments are illustrative in all respects and not restrictive. The scope of the invention is shown not by the foregoing description but by the claimed scope, and is intended to include all modifications within the meaning and scope equivalent to the claimed scope.

[0139] The above description includes the features noted below.

[0140] [Note 1]

[0141] A vehicle-mounted device, installed in a vehicle, comprising:

[0142] The receiving unit receives, via a transmission path, multiple change information representing changes in the measurement results of multiple sensors mounted on the vehicle.

[0143] The delay processing unit performs delay processing on at least one of the plurality of change information received by the receiving unit and outputs it; and

[0144] The detection unit detects anomalies based on an internal output sequence, which is an output sequence of the multiple change information output by the delay processing unit.

[0145] The delay processing unit dynamically adjusts the delay amount in the delay processing based on the measurement results of the load of the transmission path.

[0146] Label Explanation

[0147] 1 vehicle

[0148] 11A and 11B communication ports

[0149] 12 Receiving Section

[0150] 13 Delay Processing Department

[0151] 14. Testing Department

[0152] 15. Reporting Department

[0153] 16 Storage Department

[0154] 5. 5A, 5B, 5C cables

[0155] 51, 51A, 51B, 51C sensors

[0156] 101 Integrated ECU

[0157] 201 Individual ECU

[0158] 301 Vehicle-mounted Communication System

[0159] T1 Delay Scale

[0160] T2 Correspondence Table

[0161] T3 Exception Types Table

Claims

1. A vehicle-mounted device, mounted on a vehicle, wherein, The vehicle-mounted device has the following features: The receiving unit receives, via a transmission path, multiple change information representing changes in the measurement results of multiple sensors mounted on the vehicle. The delay processing unit performs delay processing on at least one of the plurality of change information received by the receiving unit and outputs it. and The detection unit detects anomalies based on an internal output sequence, which is an output sequence of the multiple change information output by the delay processing unit. The delay processing unit assigns a delay to the change information in a manner that makes the internal output sequence different from the received sequence of the multiple change information received by the receiving unit.

2. The vehicle-mounted device according to claim 1, wherein, The delay processing unit adjusts the delay amount in the delay processing based on the load of the transmission path.

3. The vehicle-mounted device according to claim 1 or 2, wherein, The delay processing unit assigns a delay corresponding to the load of the transmission path to the change information received by the receiving unit via other transmission paths.

4. The vehicle-mounted device according to claim 1 or 2, wherein, The delay processing unit adjusts the delay amount in the delay processing based on the measurement results of the load of multiple transmission paths.

5. The vehicle-mounted device according to claim 1 or 2, wherein, The vehicle-mounted device also includes a storage unit that stores correspondence information indicating the relationship between the transmission path where the load meets specified conditions and the change information on the appropriate delay. The delay processing unit performs the delay processing based on the corresponding information.

6. The vehicle-mounted device according to claim 1 or 2, wherein, The vehicle-mounted device also includes a storage unit that stores anomaly type information representing the correspondence between the types of anomalies detected by the detection unit and external transmission sequences based on the multiple change information from the multiple sensors. The detection unit detects multiple types of anomalies based on the anomaly type information and the internal output sequence.

7. An anomaly detection method, which is an anomaly detection method in an on-board device mounted in a vehicle, wherein, The anomaly detection method includes: The step of receiving multiple change information, each representing a change in the measurement results of multiple sensors mounted on the vehicle, via a transmission path; The step of performing delay processing by assigning a delay to at least one of the received plurality of change information and outputting it; and The step of detecting anomalies based on the internal output sequence, which is an output sequence of the multiple change information. In the delay processing step, the change information is delayed in a manner that makes the internal output sequence different from the received sequence that receives the plurality of change information.

8. An anomaly detection program product, comprising an anomaly detection program installed in an on-board unit of a vehicle, wherein, This anomaly detection program is used to enable the computer to function as follows: The receiving unit receives, via a transmission path, multiple change information representing changes in the measurement results of multiple sensors mounted on the vehicle. The delay processing unit performs delay processing on at least one of the plurality of change information received by the receiving unit and outputs it. and The detection unit detects anomalies based on an internal output sequence, which is an output sequence of the multiple change information output by the delay processing unit. The delay processing unit assigns a delay to the change information in a manner that makes the internal output sequence different from the received sequence of the multiple change information received by the receiving unit.

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