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

Abstract

To suppress the occurrence of a false detection in abnormality detection based on the measurement results of sensors.SOLUTION: An on-vehicle device includes a receiving unit that receives, via a transmission channel, a plurality of pieces of change information indicating changes in measurement results of a plurality of sensors mounted on a vehicle, a delay processing unit that performs delay processing in which at least any one of the plurality of pieces of change information received by the receiving unit is delayed and output, and a detection unit that detects an abnormality on the basis of an internal output sequence of the plurality of pieces of change information by the delay processing unit.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to an in-vehicle device, an abnormality detection method, and an abnormality detection program. [Background technology]

[0002] Conventionally, a technique for detecting an abnormality in an in-vehicle system has been proposed. For example, Patent Document 1 (JP Patent Publication 2012-190408 A) discloses the following abnormality diagnosis device. That is, the abnormality diagnosis device performs abnormality diagnosis for a system having a hierarchical structure made up of a plurality of subsystems, and includes a normal operation model storage unit that stores a normal operation model for each of the systems and the subsystems, an operation-in-production extraction unit that extracts operation data during production for each of the systems and the subsystems, a normal operation model comparison unit that performs a local judgment for each of the systems and the subsystems, determining "normal" when the operation data during production is included in the normal operation model and determining "possible abnormality" when the operation data is not included in the normal operation model, and a comprehensive judgment unit that performs a comprehensive judgment of "high possibility of abnormality" and identifies the subsystem at the lowest layer as an abnormal location when the local judgment for the system is "possible abnormality" and all the local judgments included in the retrospective path from the subsystem at the lowest layer of the hierarchical structure back to the subsystem at the highest layer of the hierarchical structure are "possible abnormality".

[0003] In addition, for the purpose of preventing vehicle theft, a technology has been proposed that detects an abnormality, such as the forcible opening of a vehicle door by someone other than the authorized user, based on the results of sensor measurements and issues an alert. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-190408 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional anomaly detection techniques, depending on the conditions of the in-vehicle network, false positives may occur in anomaly detection based on the measurement results of sensors.

[0006] The present disclosure has been 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 program that are capable of suppressing the occurrence of false positives in anomaly detection based on sensor measurement results. [Means for solving the problem]

[0007] The on-board device of the present disclosure is an on-board device mounted on a vehicle, and includes a receiving unit that receives, via a transmission path, multiple pieces of change information each indicating changes in the measurement results of multiple sensors mounted on the vehicle, a delay processing unit that performs delay processing to impart a delay to at least one of the multiple pieces of change information received by the receiving unit and output it, and a detection unit that detects an abnormality based on an internal output sequence of the multiple pieces of change information by the delay processing unit.

[0008] The anomaly detection method disclosed herein is an anomaly detection method in an on-board device mounted on a vehicle, and includes the steps of receiving, via a transmission path, a plurality of pieces of change information each indicating changes in the measurement results of a plurality of sensors mounted on the vehicle, performing a delay processing step of applying a delay to at least one of the received pieces of change information and outputting it, and detecting an anomaly based on an internal output sequence of the plurality of pieces of change information.

[0009] The abnormality detection program disclosed herein is an abnormality detection program for an on-board device mounted on a vehicle, and is a program for causing a computer to function as a receiving unit that receives, via a transmission path, multiple pieces of change information each indicating changes in the measurement results of multiple sensors mounted on the vehicle, a delay processing unit that performs delay processing to impart a delay to at least one of the multiple pieces of change information received by the receiving unit and output it, and a detection unit that detects an abnormality based on the internal output sequence of the multiple pieces of change information by the delay processing unit.

[0010] One aspect of the present disclosure can be realized not only as an in-vehicle device equipped with such a characteristic processing unit, but also as a semiconductor integrated circuit that realizes part or all of the in-vehicle device, or as an in-vehicle communication system that includes the in-vehicle device. Effect of the Invention

[0011] According to the present disclosure, it is possible to suppress the occurrence of false positives in anomaly detection based on the measurement results of a sensor. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a configuration of an in-vehicle communication system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a diagram illustrating an example of sensor data transmitted by a sensor in the in-vehicle communication system according to the embodiment of the present disclosure. [Diagram 3] FIG. 3 is a diagram illustrating an example of sensor data transmitted by a sensor in the in-vehicle communication system according to the embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of sensor data transmitted by a sensor in the in-vehicle communication system according to the embodiment of the present disclosure. [Diagram 5] FIG. 5 is a diagram illustrating a configuration of an integrated ECU according to an embodiment of the present disclosure. [Figure 6]FIG. 6 is a diagram illustrating an example of a delay amount table stored in the storage unit in the integrated ECU according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram illustrating an example of a correspondence table stored in a storage unit in the integrated ECU according to the embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram illustrating an example of delay processing by the delay processor in the integrated ECU according to the embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram illustrating an example of an abnormality type table stored in the storage unit in the integrated ECU according to the embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart defining an example of an operation procedure when the integrated ECU according to the embodiment of the present disclosure detects an abnormality. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] First, the contents of the embodiments of the present disclosure will be listed and described.

[0014] (1) An on-board device according to an embodiment of the present disclosure is an on-board device mounted on a vehicle, and includes a receiving unit that receives, via a transmission path, a plurality of pieces of change information each indicating a change in the measurement results of a plurality of sensors mounted on the vehicle, a delay processing unit that performs delay processing to apply a delay to at least one of the plurality of pieces of change information received by the receiving unit and output the delay, and a detection unit that detects an abnormality based on an internal output sequence of the plurality of pieces of change information by the delay processing unit.

[0015] In this manner, by performing delay processing to output at least one of the multiple pieces of change information received with a delay, and detecting an abnormality based on the internal output sequence of the multiple pieces of change information, it is possible to determine whether an abnormality has occurred based on an internal output sequence that is closer to the external transmission sequence of the change information in the sensor, for example, in which the effect of the transmission delay of the change information is reduced, thereby suppressing erroneous detection due to the effect of the transmission delay of the change information. Therefore, it is possible to suppress the occurrence of erroneous detection in an abnormality detection based on the measurement results of the sensor.

[0016] (2) The delay processing unit may be configured to adjust the amount of delay in the delay processing based on the load on the transmission path.

[0017] With this configuration, the delay amount in the delay processing can be set to a value corresponding to the transmission delay of the change information. Therefore, compared to a configuration in which the delay amount is set to a predetermined value, it is possible to more accurately determine whether or not an abnormality has occurred based on an internal output sequence whose contents are closer to the external transmission sequence of the change information in the sensor.

[0018] (3) The delay processing unit may be configured to delay the change information so that the internal output sequence differs from a reception sequence of the plurality of pieces of change information by the receiving unit.

[0019] With this configuration, for example, it is possible to more accurately determine whether or not an abnormality has occurred based on the internal output sequence in which the inversion of the reception sequence caused by the influence of a transmission delay in the change information has been eliminated.

[0020] (4) The delay processing unit may be configured to give a delay corresponding to a load on the transmission line to the change information received by the receiving unit via another of the transmission lines.

[0021] With this configuration, it is possible to determine whether or not an abnormality has occurred based on the internal output sequence in which the transmission delay of the change information is offset by applying a delay corresponding to the transmission delay of the change information to other change information.

[0022] (5) The delay processing unit may be configured to adjust the amount of delay in the delay processing based on a measurement result of load amounts of the plurality of transmission paths.

[0023] With this configuration, in the delay process, a delay can be set by comprehensively taking into account the transmission delays of a plurality of pieces of change information, and the delay can be applied to the change information.

[0024] (6) The in-vehicle device may further include a memory unit that stores correspondence information indicating a correspondence between the transmission path whose load amount satisfies a predetermined condition and the change information to which a delay should be applied, and the delay processing unit may be configured to perform the delay processing based on the correspondence information.

[0025] With this configuration, the amount of delay in the delay process can be easily set based on a predetermined correspondence relationship between the transmission path and the change information to which a delay should be applied.

[0026] (7) The vehicle-mounted device may further include a memory unit that stores abnormality type information indicating a correspondence between the type of abnormality detected by the detection unit and the external transmission sequence of the multiple change information by the multiple sensors, and the detection unit may be configured to detect multiple types of abnormalities based on the abnormality type information and the internal output sequence.

[0027] With this configuration, various types of anomalies can be detected based on the internal output sequence.

[0028] (8) An anomaly detection method according to an embodiment of the present disclosure is an anomaly detection method in an on-board device mounted on a vehicle, and includes the steps of receiving, via a transmission path, a plurality of pieces of change information each indicating changes in measurement results of a plurality of sensors mounted on the vehicle, performing a delay processing step of applying a delay to at least one of the received pieces of change information and outputting the delayed information, and detecting an anomaly based on an internal output sequence of the plurality of pieces of change information.

[0029] In this way, by performing delay processing to output at least one of the multiple pieces of change information received with a delay, and detecting an abnormality based on the internal output sequence of the multiple pieces of change information, it is possible to determine whether an abnormality has occurred based on an internal output sequence that is closer to the external transmission sequence of the change information in the sensor, for example, in which the effect of the transmission delay of the change information is reduced, thereby suppressing erroneous detection due to the effect of the transmission delay of the change information. Therefore, it is possible to suppress the occurrence of erroneous detection in abnormality detection based on the measurement results of the sensor.

[0030] (9) An abnormality detection program according to an embodiment of the present disclosure is an abnormality detection program for an on-board device mounted on a vehicle, which causes a computer to function as a receiving unit that receives, via a transmission path, multiple pieces of change information each indicating changes in the measurement results of multiple sensors mounted on the vehicle, a delay processing unit that performs delay processing to apply a delay to at least one of the multiple pieces of change information received by the receiving unit and output it, and a detection unit that detects an abnormality based on an internal output sequence of the multiple pieces of change information by the delay processing unit.

[0031] In this manner, by performing delay processing to output at least one of the multiple pieces of change information received with a delay, and detecting an abnormality based on the internal output sequence of the multiple pieces of change information, it is possible to determine whether an abnormality has occurred based on an internal output sequence that is closer to the external transmission sequence of the change information in the sensor, for example, in which the effect of the transmission delay of the change information is reduced, thereby suppressing erroneous detection due to the effect of the transmission delay of the change information. Therefore, it is possible to suppress the occurrence of erroneous detection in an abnormality detection based on the measurement results of the sensor.

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated. In addition, at least some of the embodiments described below may be arbitrarily combined.

[0033] [Configuration and basic operation] <In-vehicle communication system> Fig. 1 is a diagram showing a configuration of an in-vehicle communication system according to an embodiment of the present disclosure. Referring to Fig. 1, an in-vehicle communication system 301 includes an integrated ECU (Electronic Control Unit) 101, an individual ECU 201, and sensors 51A, 51B, and 51C. The in-vehicle communication system 301 is mounted on a vehicle 1. Hereinafter, each of the sensors 51A, 51B, and 51C will also be referred to as a sensor 51. The integrated ECU 101, the individual ECU 201, and the sensor 51 are examples of in-vehicle devices.

[0034] The sensor 51A is connected to the individual ECU 201 via a cable 5A. The sensor 51B is connected to the individual ECU 201 via a cable 5B. The sensor 51C is connected to the integrated ECU 101 via a cable 5C. The individual ECU 201 is connected to the integrated ECU 101 via a cable 3. Each of the cables 5A, 5B, and 5C will hereinafter also be referred to as a cable 5.

[0035] The in-vehicle communication system 301 may be configured to include two or four or more sensors 51. The in-vehicle communication system 301 may be configured to include two or more integrated ECUs 101. The in-vehicle communication system 301 may be configured to include two or more individual ECUs 201. When the in-vehicle communication system 301 includes two or more individual ECUs 201, the network topology of the integrated ECU 101 and the multiple individual ECUs 201 may be a bus type or a star type with the integrated ECU 101 at the center.

[0036] The cables 3 and 5 are 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), etc. The cables 3 and 5 may be signal lines capable of transmitting analog signals, for example.

[0037] The sensors 51A and 51B store sensor data indicating the measurement results in a frame conforming to the CAN, Ethernet, or LIN standard and transmit the sensor data to the individual ECU 201. The sensor 51C stores sensor data indicating the measurement results in a frame conforming to the CAN, Ethernet, or LIN standard and transmits the sensor data to the integrated ECU 101.

[0038] (Sensor Data SA) For example, the sensor 51A is a fingerprint sensor that detects whether a person has touched the body of the vehicle 1. The sensor 51A periodically performs measurements while the vehicle 1 is parked, for example, generates sensor data SA indicating whether a person has touched the body of the vehicle 1, stores the generated sensor data SA in a frame, and transmits the frame to the individual ECU 201.

[0039] Fig. 2 is a diagram showing an example of sensor data transmitted by a sensor in the in-vehicle communication system according to the embodiment of the present disclosure. Fig. 2 shows a timing chart of the sensor data SA transmitted by the sensor 51A. In Fig. 2, the horizontal axis represents time.

[0040] Referring to Figure 2, when a person is not touching the body of vehicle 1, sensor 51A stores sensor data SA with a value of "zero" in a frame and transmits it to individual ECU 201, and when a person is touching the body of vehicle 1, sensor 51A stores sensor data SA with a value of "1" in a frame and transmits it to individual ECU 201.

[0041] The value of the sensor data SA transitions from "zero" to "1" when, for example, a person touches the body of the vehicle 1 at time ta1. Among the sensor data SA periodically transmitted by the sensor 51A, the sensor data SA at the timing when the value transitions from "zero" to "1" is also referred to as "sensor data SAV."

[0042] (Sensor data SB) For example, the sensor 51B is a vibration sensor that detects vibration of the vehicle 1. The sensor 51B periodically performs measurements while the vehicle 1 is parked, generates sensor data SB indicating the magnitude of vibration of the vehicle 1, stores the generated sensor data SB in a frame, and transmits the frame to the individual ECU 201.

[0043] Fig. 3 is a diagram showing an example of sensor data transmitted by a sensor in the in-vehicle communication system according to the embodiment of the present disclosure. Fig. 3 shows a timing chart of sensor data SB transmitted by sensor 51B. In Fig. 3, the horizontal axis represents time.

[0044] Referring to Figure 3, when the magnitude of vibration of vehicle 1 is less than a predetermined value, sensor 51B stores sensor data SB with a value of "zero" in a frame and transmits it to individual ECU 201, and when the magnitude of vibration of vehicle 1 is equal to or greater than the predetermined value, sensor 51B stores sensor data SB with a value of "1" in a frame and transmits it to individual ECU 201.

[0045] The value of the sensor data SB transitions from "zero" to "1" when the magnitude of vibration of the vehicle 1 becomes equal to or greater than a predetermined value at time tb1, for example. Of the sensor data SB periodically transmitted by the sensor 51B, the sensor data SB at the timing when the value transitions from "zero" to "1" is also referred to as "sensor data SBV."

[0046] (Sensor data SC) For example, the sensor 51C is a door knob sensor that detects the opening of a door of the vehicle 1. The sensor 51C periodically performs measurements while the vehicle 1 is parked, generates sensor data SC indicating whether the door of the vehicle 1 is open or not, stores the generated sensor data SC in a frame, and transmits the frame to the individual ECU 201.

[0047] Fig. 4 is a diagram showing an example of sensor data transmitted by a sensor in the in-vehicle communication system according to the embodiment of the present disclosure. Fig. 4 shows a timing chart of sensor data SC transmitted by the sensor 51C. In Fig. 4, the horizontal axis represents time.

[0048] Referring to Figure 4, when the door of vehicle 1 is closed, sensor 51C stores sensor data SC with a value of "zero" in a frame and transmits it to the integrated ECU 101, and when the door of vehicle 1 is open, sensor data SC with a value of "1" is stored in a frame and transmits it to the integrated ECU 101.

[0049] The value of the sensor data SC transitions from "zero" to "1" when the door of the vehicle 1 is opened at time tc1, for example. Among the sensor data SC periodically transmitted by the sensor 51C, the sensor data SC at the timing when the value transitions from "zero" to "1" is also referred to as "sensor data SCV."

[0050] The sensors 51A and 51B may be configured to transmit analog signals indicating the measurement results to the individual ECU 201. The sensor 51C may be configured to transmit an analog signal indicating the measurement result to the integrated ECU 101.

[0051] The individual ECU 201 relays the frames received from the sensors 51A and 51B to the integrated ECU 101. The individual ECU 201 may be configured to acquire sensor data SA from the frame received from the sensor 51A, process the acquired sensor data SA, store the processed sensor data SA in a frame, and transmit the frame to the integrated ECU 101. The individual ECU 201 may be configured to acquire sensor data SB from the frame received from the sensor 51B, process the acquired sensor data SB, store the processed sensor data SB in a frame, and transmit the frame to the integrated ECU 101.

[0052] For example, the integrated ECU 101 generates control information for controlling an actuator (not shown) connected to the individual ECU 201, and transmits a frame in which the generated control information is stored to the individual ECU 201. The individual ECU 201 receives the control information from the integrated ECU 101, and drives the actuator based on the received control information. In this manner, the in-vehicle communication system 301 has a network configuration in which the integrated ECU 101 controls the driving of the actuator by the individual ECU 201. In such a network configuration, a new function can be added to the in-vehicle communication system 301 by a simple method such as updating the firmware of the integrated ECU 101, and therefore, the need for adding functions to the in-vehicle communication system 301 can be flexibly addressed.

[0053] <Integrated ECU> 5 is a diagram illustrating a configuration of an integrated ECU according to an embodiment of the present disclosure. Referring to FIG. 5, an integrated ECU 101 includes communication ports 11A and 11B, a receiver 12, a delay processor 13, a detector 14, a notifier 15, and a memory 16.

[0054] The receiving unit 12, the delay processing unit 13, the detection unit 14, and the notification unit 15 are realized by a processor such as a CPU (Central Processing Unit) and a DSP (Digital Signal Processor). The storage unit 16 is, for example, a non-volatile memory. At least one of the notification unit 15 and the storage unit 16 may be provided outside the integrated ECU 101.

[0055] The communication ports 11A and 11B are terminals to which cables can be connected. The communication port 11A is connected to an individual ECU 201 via a cable 3. The communication port 11B is connected to a sensor 51C via a cable 5C.

[0056] (Receiving sensor data) The receiving unit 12 receives, via the cables 3 and 5, a plurality of pieces of change information each indicating a change in the measurement results of a plurality of sensors 51.

[0057] More specifically, the receiver 12 receives a frame periodically transmitted from the sensor 51A via the cable 5A, the individual ECU 201, the cable 3, and the communication port 11A, and acquires the sensor data SA from the received frame. The receiver 12 checks the value of the acquired sensor data SA and judges whether the acquired sensor data SA is the sensor data SAV. Specifically, the receiver 12 detects, as the sensor data SAV, the sensor data SA whose value is "1" and whose value of the sensor data SA acquired from the immediately preceding received frame is "zero". The receiver 12 outputs the detected sensor data SAV to the delay processor 13.

[0058] Furthermore, the receiver 12 receives a frame periodically transmitted from the sensor 51B via the cable 5B, the individual ECU 201, the cable 3, and the communication port 11A, and acquires sensor data SB from the received frame. The receiver 12 checks the value of the acquired sensor data SB, and judges whether the acquired sensor data SB is sensor data SBV. Specifically, the receiver 12 detects, as sensor data SBV, the sensor data SB whose value is "1" and whose value is "zero" acquired from the immediately preceding frame, among the acquired sensor data SB. The receiver 12 outputs the detected sensor data SBV to the delay processor 13.

[0059] Furthermore, the receiver 12 receives a frame periodically transmitted from the sensor 51C via the cable 5C and the communication port 11B, and acquires sensor data SC from the received frame. The receiver 12 checks the value of the acquired sensor data SC, and judges whether the acquired sensor data SC is sensor data SCV or not. Specifically, the receiver 12 detects, as sensor data SCV, the sensor data SC whose value is "1" and whose value of the sensor data SC acquired from the immediately preceding received frame is "zero". The receiver 12 outputs the detected sensor data SCV to the delay processor 13.

[0060] The sensor data SAV, SBV, and SCV are examples of change information. Hereinafter, each of the sensor data SAV, SBV, and SCV will also be referred to as "sensor data SV."

[0061] For example, when the receiving unit 12 detects the sensor data SAV, it measures the load of the transmission path TLA consisting of the cable 5A and the cable 3. As an example, the receiving unit 12 monitors the reception frequency fa of the frame in which the sensor data SA is stored. When the receiving unit 12 detects the sensor data SAV, it calculates the load of the transmission path TLA expressed as a percentage based on a predetermined calculation formula and the reception frequency fa, and outputs load information La indicating the calculated load to the delay processing unit 13.

[0062] Furthermore, for example, when the receiver 12 detects the sensor data SBV, it measures the load of the transmission path TLB consisting of the cable 5B and the cable 3. As an example, the receiver 12 monitors the reception frequency fb of the frame in which the sensor data SB is stored. When the receiver 12 detects the sensor data SBV, it calculates the load of the transmission path TLB expressed as a percentage based on a predetermined calculation formula and the reception frequency fb, and outputs load information Lb indicating the calculated load to the delay processor 13.

[0063] Furthermore, for example, when the receiver 12 detects the sensor data SCV, it measures the load on the transmission path TLC made of the cable 5C. As an example, the receiver 12 monitors the reception frequency fc of the frame in which the sensor data SC is stored. When the receiver 12 detects the sensor data SCV, it calculates the load on the transmission path TLC expressed as a percentage based on a predetermined formula and the reception frequency fc, and outputs load information Lc indicating the calculated load to the delay processor 13.

[0064] (Delayed processing) The delay processing unit 13 performs a delay process for giving a delay to at least one of the sensor data SV received by the receiving unit 12 and outputting it.

[0065] Fig. 6 is a diagram showing an example of a delay amount table stored in a storage unit in an integrated ECU according to an embodiment of the present disclosure. Referring to Fig. 6, the storage unit 16 stores a delay amount table T1 indicating a correspondence relationship between the load of a transmission line and the delay amount to be applied in a delay process. The delay amount table T1 indicates that when the load of the transmission line is less than 10%, the delay amount to be applied in the delay process is zero seconds, when the load of the transmission line is 10% or more and less than 50%, the delay amount to be applied in the delay process is 1.2 milliseconds, and when the load of the transmission line is 50% or more, the delay amount to be applied in the delay process is 2.4 milliseconds.

[0066] Fig. 7 is a diagram showing an example of a correspondence table stored in a storage unit in an integrated ECU according to an embodiment of the present disclosure. Referring to Fig. 7, the storage unit 16 stores a correspondence table T2 indicating a correspondence relationship between a transmission path that satisfies a predetermined condition, for example, a load amount of 10% or more, and sensor data SV to which a delay should be applied. The correspondence table T2 indicates that when the load amount of the transmission path TLA is 10% or more, the sensor data SBV, SCV should be delayed, and when the load amount of the transmission path TLB is 10% or more, the sensor data SCV should be delayed. The correspondence table T2 is an example of correspondence information.

[0067] For example, the delay processing unit 13 adjusts the amount of delay in the delay process based on the load of the transmission path. Also, for example, the delay processing unit 13 gives a delay according to the load of the transmission path to the sensor data SV received by the receiving unit 12 via another transmission path. More specifically, the delay processing unit 13 performs the delay process based on the delay amount table T1 and the correspondence table T2 in the storage unit 16. That is, the delay processing unit 13 selectively gives a delay to the sensor data SV based on the delay amount table T1 and the correspondence table T2.

[0068] For example, the delay processing unit 13 adjusts the delay amount in the delay processing based on the measurement result of the load amount of the transmission paths TLA, TLB, TLC. More specifically, the delay processing unit 13 receives the sensor data SAV, SBV, SCV and the load information La, Lb, Lc, and dynamically sets the delay amount of the sensor data SAV, SBV, SCV based on the load amount indicated by the load information La, Lb, Lc, respectively, the delay amount table T1, and the correspondence table T2.

[0069] As an example, when the load amount of the transmission path TLA indicated by the load information La is 5%, the load amount of the transmission path TLB indicated by the load information Lb is 60%, and the load amount of the transmission path TLC indicated by the load information Lc is 3%, the delay processing unit 13 sets the delay time of the sensor data SAV and SBV to zero while setting the delay time of the sensor data SCV to 2.4 milliseconds based on the delay amount table T1 and the correspondence table T2 in the memory unit 16.

[0070] Fig. 8 is a diagram illustrating an example of delay processing by a delay processing unit in an integrated ECU according to an embodiment of the present disclosure. Fig. 8 is a timing chart of the sensor data SAV, SBV, and SCV. In Fig. 8, the horizontal axis represents time.

[0071] 8, the sensor data SA transmitted by the sensor 51A transitions from "zero" to "1" at time ta1, the sensor data SB transmitted by the sensor 51B transitions from "zero" to "1" at time tb1 after time ta1, and the sensor data SC transmitted by the sensor 51C transitions from "zero" to "1" at time tc1 after time tb1. That is, the sensor 51A transmits the sensor data SAV to the individual ECU 201 at time ta1, the sensor 51B transmits the sensor data SBV to the individual ECU 201 at time tb1, and the sensor 51C transmits the sensor data SCV to the integrated ECU 101 at time tc1. Therefore, the external transmission sequence of the sensor data SV by the sensor 51 is the order of the sensor data SAV, the sensor data SBV, and the sensor data SCV.

[0072] Then, the receiver 12 in the integrated ECU 101 detects the sensor data SAV at time ta2 and outputs it to the delay processing unit 13, detects the sensor data SCV at time tc2 after time ta2 and outputs it to the delay processing unit 13, and detects the sensor data SBV at time tb2 after time tc2 and outputs it to the delay processing unit 13. Therefore, the reception sequence of the sensor data SV by the receiver 12 is in the order of the sensor data SAV, the sensor data SCV, and the sensor data SBV.

[0073] That is, although the timing of transmission of the sensor data SBV by the sensor 51B is earlier than the timing of transmission of the sensor data SCV by the sensor 51C, due to the influence of a transmission delay of the sensor data SB based on the traffic of the transmission path TLB and the processing load in the individual ECU 201, the timing of reception of the sensor data SBV by the receiver 12 is later than the timing of reception of the sensor data SCV.

[0074] The delay processing unit 13 applies a delay to the sensor data SCV so that the internal output sequence of the sensor data SV differs from the reception sequence of the sensor data SV by the receiving unit 12.

[0075] More specifically, for example, at time ta2, the delay processing unit 13 receives sensor data SAV from the receiving unit 12, and outputs the received sensor data SAV to the detection unit 14 at time ta2 without performing delay processing on the received sensor data SAV.

[0076] In addition, the delay processing unit 13 receives sensor data SCV from the receiving unit 12, for example, at time tc2, which is later than time ta2, and holds the received sensor data SCV for 2.4 seconds, thereby outputting the sensor data SCV to the detection unit 14 at time tc2d, which is 2.4 seconds after time tc2.

[0077] In addition, the delay processing unit 13 receives sensor data SBV from the receiving unit 12, for example, at time tb2, which is later than time tc2, and outputs the sensor data SBV to the detection unit 14 at time tb2, which is earlier than time tc2d, without performing any delay processing on the received sensor data SBV.

[0078] That is, the delay processing unit 13 receives the sensor data SV from the receiving unit 12 in the order of the sensor data SAV, the sensor data SCV, and the sensor data SBV, and outputs the sensor data SAV, the sensor data SBV, and the sensor data SCV to the detecting unit 14 in that order.

[0079] (Detection process) The detection unit 14 detects an abnormality based on the internal output sequence of the sensor data SV by the delay processing unit 13. More specifically, the detection unit 14 detects an abnormality based on the input sequence, which is the order in which the sensor data SV is received from the delay processing unit 13.

[0080] Fig. 9 is a diagram illustrating an example of an abnormality type table stored in a storage unit in the integrated ECU according to the embodiment of the present disclosure. Referring to Fig. 9, the storage unit 16 stores an abnormality type table T3 indicating a correspondence relationship between the type of abnormality detected by the detection unit 14 and the external transmission sequence of the sensor data SV by the sensor 51. The abnormality type table T3 is an example of abnormality type information.

[0081] For example, the abnormality type table T3 indicates the correspondence between an abnormality and an external transmission sequence of the sensor data SV by the sensor 51, which serves as a criterion for determining whether or not the abnormality has occurred.

[0082] Specifically, the abnormality type table T3 indicates that the abnormality X has not occurred when the external transmission sequence of the sensor data SV by the sensor 51 is in the order of the sensor data SAV, the sensor data SBV, and the sensor data SCV. The abnormality X is, for example, an abnormal entry into the vehicle 1, that is, the door of the vehicle 1 being forcibly opened and entry being made by a person other than a legitimate user.

[0083] Furthermore, the abnormality type table T3 indicates that an abnormality Y has not occurred if the external transmission sequence of the sensor data SV by the sensor 51 is the sensor data SAV and then the sensor data SBV, and the transmission interval of the sensor data SAV and SBV is S milliseconds or longer. The abnormality Y is, for example, shaking of the vehicle 1.

[0084] The detection unit 14 detects a plurality of types of abnormalities based on the abnormality type table T3 and the internal output sequence of the sensor data SV by the delay processing unit 13.

[0085] More specifically, when the input sequence of the sensor data SV from the delay processing unit 13 is the sensor data SAV, the sensor data SBV, and the sensor data SCV in that order, the detection unit 14 determines that the abnormality X has not occurred.

[0086] On the other hand, when the input sequence of the sensor data SV from the delay processing unit 13 is different from the order of the sensor data SAV, the sensor data SBV, and the sensor data SCV, the detection unit 14 determines that an abnormality X has occurred. Then, the detection unit 14 outputs detection information to the notification unit 15 to the effect that the abnormality X has been detected.

[0087] In addition, the detection unit 14 determines that an abnormality Y has not occurred if the input sequence of the sensor data SV from the delay processing unit 13 is the order of sensor data SAV and sensor data SBV, and the interval between the timing of receiving the sensor data SAV and SBV from the delay processing unit 13 is S milliseconds or more.

[0088] On the other hand, when the input sequence of the sensor data SV from the delay processing unit 13 is different from the order of the sensor data SAV and the sensor data SBV, or the interval between the timings of receiving the sensor data SAV and SBV from the delay processing unit 13 is less than S milliseconds, the detection unit 14 determines that anomaly Y has occurred. Then, the detection unit 14 outputs detection information to the notification unit 15 to the effect that anomaly Y has been detected.

[0089] When the notification unit 15 receives detection information from the detection unit 14, it issues an alert.

[0090] Referring again to FIG. 8, in a configuration in which the detection unit 14 detects an abnormality based on the reception sequence of the sensor data SV by the receiving unit 12, even though the external transmission sequence of the sensor data SV by the sensor 51 is in the order of sensor data SAV, sensor data SBV, and sensor data SCV, the reception sequence of the sensor data SV by the receiving unit 12 is in the order of sensor data SAV, sensor data SCV, and sensor data SBV, so that an abnormality X is erroneously detected and a false alarm is issued by the alarm unit 15.

[0091] In response to this, the detection unit 14 is configured to detect an abnormality based on the internal output sequence of the sensor data SV by the delay processing unit 13, thereby making it possible to suppress erroneous detection of an abnormality caused by a reversal of the reception sequence of the sensor data SBV and the sensor data SCV at the receiving unit 12 due to the influence of a transmission delay of the sensor data SB.

[0092] [Operation flow] Each device in the in-vehicle communication system according to the embodiment of the present disclosure includes a computer including a memory, and a processor such as a CPU in the computer reads out from the memory and executes a program including some or all of the steps in the following flowcharts and sequences. Each of the programs for the devices can be installed from the outside. Each of the programs for the devices is distributed in a state stored in a recording medium or via a communication line.

[0093] FIG. 10 is a flowchart defining an example of an operation procedure when the integrated ECU according to the embodiment of the present disclosure detects an abnormality.

[0094] 10, first, the integrated ECU 101 waits for sensor data SV from the sensor 51. More specifically, the receiver 12 in the integrated ECU 101 acquires sensor data from a frame received directly from the sensor 51 or via the individual ECU 201, and determines whether the acquired sensor data is sensor data SV (NO in step S102).

[0095] Next, when the receiver 12 in the integrated ECU 101 receives the sensor data SV from the sensor 51, that is, when the receiver 12 detects the sensor data SV (YES in step S102), it measures the loads on the transmission paths TLA, TLB, and TLC (step S104).

[0096] Next, the integrated ECU 101 sets the delay amount of the sensor data SAV, SBV, SCV based on the load amount of the transmission paths TLA, TLB, TLC, the delay amount table T1, and the correspondence table T2, and performs delay processing. More specifically, the delay processing unit 13 in the integrated ECU 101 receives the sensor data SAV, SAB, SAC from the receiving unit 12, and outputs at least one of the received sensor data SAV, SAB, SAC with a delay (step S106).

[0097] Next, the detection unit 14 in the integrated ECU 101 performs detection processing based on the internal output sequence of the sensor data SAV, SAB, and SAC by the delay processing unit 13. More specifically, the detection unit 14 determines whether or not an abnormality has occurred based on the abnormality type table T3 in the storage unit 16 and the internal output sequence of the sensor data SAV, SAB, and SAC by the delay processing unit 13 (step S108).

[0098] Next, if the integrated ECU 101 determines that no abnormality has occurred (NO in step S110), the integrated ECU 101 waits for new sensor data SV from the sensor 51 (NO in step S102).

[0099] On the other hand, if the integrated ECU 101 determines that an abnormality has occurred (YES in step S110), it issues an alert (step S112).

[0100] Next, the integrated ECU 101 waits for new sensor data SV from the sensor 51 (NO in step S102).

[0101] In the in-vehicle communication system 301 according to the embodiment of the present disclosure, the sensor 51 is configured to periodically perform measurements while the vehicle 1 is parked, but this is not limited to the above. The sensor 51 may be configured to periodically perform measurements while the vehicle 1 is traveling, instead of or in addition to the period when the vehicle 1 is parked.

[0102] In addition, in the in-vehicle communication system 301 according to the embodiment of the present disclosure, the sensor 51A is configured to periodically generate the sensor data SA and transmit it to the individual ECU 201, but this is not limited thereto. The sensor 51A may be configured to periodically perform measurements and transmit to the individual ECU 201 only the sensor data SA at the timing when the value transitions from "zero" to "1" as a result of a person touching the body of the vehicle 1. In other words, the sensor 51A may be configured to transmit the sensor data SAV of the sensor data SA to the individual ECU 201, but not transmit sensor data SA other than the sensor data SAV.

[0103] Similarly, the sensor 51B may be configured to transmit sensor data SBV of the sensor data SB to the individual ECU 201, but not transmit any sensor data SB other than the sensor data SBV. The sensor 51C may be configured to transmit sensor data SCV of the sensor data SC to the integrated ECU 101, but not transmit any sensor data SC other than the sensor data SCV.

[0104] In addition, in the integrated ECU 101 according to the embodiment of the present disclosure, the delay processing unit 13 is configured to adjust the delay amount in the delay processing based on the load of the transmission path, but this is not limited to this. The delay processing unit 13 may be configured to adjust the delay amount based on, for example, the processing load of the individual ECU 201 other than the load of the transmission path.

[0105] In addition, in the integrated ECU 101 according to the embodiment of the present disclosure, the delay processing unit 13 is configured to give a delay to the sensor data SCV so that the internal output sequence of the sensor data SV differs from the reception sequence of the sensor data SV by the receiving unit 12, but this is not limited to the above. The delay processing unit 13 may be configured to give a delay to the sensor data SCV and output it so that the internal output sequence of the sensor data SV is the same as the reception sequence of the sensor data SV by the receiving unit 12 and the output interval of the sensor data SV differs from the reception interval of the sensor data SV by the receiving unit 12.

[0106] In addition, in the integrated ECU 101 according to the embodiment of the present disclosure, the delay processing unit 13 is configured to impart a delay corresponding to the load of the transmission path to the sensor data SV received by the receiving unit 12 via another transmission path, but this is not limited to this. The delay processing unit 13 may be configured to impart a delay corresponding to the load of the transmission path to the sensor data SV received by the receiving unit 12 via a common transmission path while not imparting a delay corresponding to the load of the transmission path to the sensor data SV received by the receiving unit 12 via another transmission path.

[0107] In the integrated ECU 101 according to the embodiment of the present disclosure, the delay processing unit 13 is configured to adjust the delay amount in the delay process based on the measurement result of the load amount of the transmission paths TLA, TLB, and TLC, but is not limited to this. The delay processing unit 13 may be configured to adjust the delay amount in the delay process based on the measurement result of the load amount of some of the transmission paths TLA, TLB, and TLC.

[0108] However, in the conventional anomaly detection technology, depending on the state of the in-vehicle network, false detection may occur in the anomaly detection based on the measurement result of the sensor. Specifically, in a configuration in which an anomaly is detected based on the reception sequence of the sensor data SV, for example, due to the effect of a transmission delay of the sensor data SV in the in-vehicle network, the reception sequence of the sensor data SV differs from the external transmission sequence of the sensor data SV in the sensor 51, resulting in false detection.

[0109] In contrast, in the integrated ECU 101 according to the embodiment of the present disclosure, the receiver 12 receives, via a transmission path, a plurality of sensor data SV each indicating a change in the measurement results of a plurality of sensors 51 mounted on the vehicle 1. The delay processor 13 performs delay processing to give a delay to at least one of the plurality of sensor data SV received by the receiver 12 and output the delayed data. The detector 14 detects an abnormality based on an internal output sequence of the plurality of sensor data SV by the delay processor 13.

[0110] In this way, by performing delay processing to output at least one of the multiple received sensor data SV with a delay, and detecting an abnormality based on the internal output sequence of the multiple sensor data SV, it is possible to determine whether an abnormality has occurred based on an internal output sequence that is closer to the external transmission sequence of the sensor data SV in the sensor, for example, in which the influence of the transmission delay of the sensor data SV is reduced, thereby suppressing erroneous detection due to the influence of the transmission delay of the sensor data SV.

[0111] Therefore, in the integrated ECU 101 according to the embodiment of the present disclosure, the occurrence of erroneous detection in the abnormality detection based on the measurement result of the sensor 51 can be suppressed.

[0112] The above-described embodiments should be considered as illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0113] The above description includes the following additional features. [Appendix 1] An in-vehicle device mounted in a vehicle, a receiving unit that receives, via a transmission path, a plurality of pieces of change information each indicating a change in measurement results of a plurality of sensors mounted on the vehicle; a delay processing unit that performs a delay process for giving a delay to at least one of the plurality of pieces of change information received by the receiving unit and outputting the delay; a detection unit that detects an abnormality based on an internal output sequence of the plurality of pieces of change information by the delay processing unit, The delay processing unit dynamically adjusts an amount of delay in the delay processing based on a measurement result of a load amount of the transmission path. [Explanation of symbols]

[0114] 1 vehicle 11A, 11B communication ports 12 Receiving section 13 Delay Processing Section 14 Detection unit 15. Notification Department 16 Memory section 5,5A,5B,5C Cable 51, 51A, 51B, 51C Sensors 101 Integrated ECU 201 Individual ECU 301 In-vehicle communication system T1 Delay Table T2 compatible table T3 Anomaly Type Table

Claims

1. An in-vehicle device mounted in a vehicle, a receiving unit that receives, via a transmission path, a plurality of pieces of change information each indicating a change in measurement results of a plurality of sensors mounted on the vehicle; a delay processing unit that performs a delay process of delaying at least one of the plurality of pieces of change information received by the receiving unit and outputting the plurality of pieces of change information including the delayed change information; a detection unit that detects an abnormality based on an internal output sequence that is an output order of the plurality of pieces of change information by the delay processing unit.

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

3. 3. The in-vehicle device according to claim 1, wherein the delay processing unit delays the change information so that the internal output sequence differs from a reception sequence of the plurality of pieces of change information by the receiving unit.

4. The in-vehicle device according to claim 1 , wherein the delay processing unit applies a delay corresponding to a load of the transmission path to the change information received by the receiving unit via another of the transmission paths.

5. The in-vehicle device according to claim 1 , wherein the delay processing unit adjusts an amount of delay in the delay processing based on a measurement result of load amounts of the plurality of transmission paths.

6. The in-vehicle device further comprises: a storage unit that stores correspondence information indicating a correspondence relationship between the transmission path whose load amount satisfies a predetermined condition and the change information to which a delay should be applied, The in-vehicle device according to claim 1 , wherein the delay processing unit performs the delay processing based on the correspondence information.

7. The in-vehicle device further comprises: a storage unit that stores abnormality type information indicating a correspondence relationship between a type of abnormality of the detection target of the detection unit and an external transmission sequence of the plurality of pieces of change information by the plurality of sensors; The in-vehicle device according to claim 1 , wherein the detection unit detects a plurality of types of abnormality based on the abnormality type information and the internal output sequence.

8. A method for detecting an abnormality in an in-vehicle device mounted on a vehicle, comprising: receiving, via a transmission path, a plurality of pieces of change information each indicating a change in measurement results of a plurality of sensors mounted on the vehicle; performing a delay process of delaying at least one of the plurality of pieces of change information received and outputting the plurality of pieces of change information including the delayed change information; detecting an anomaly based on an internal output sequence that is an output order of the plurality of pieces of change information output in the step of performing the delay process.

9. An abnormality detection program for an in-vehicle device mounted on a vehicle, Computer, a receiving unit that receives, via a transmission path, a plurality of pieces of change information each indicating a change in measurement results of a plurality of sensors mounted on the vehicle; a delay processing unit that performs a delay process of delaying at least one of the plurality of pieces of change information received by the receiving unit and outputting the plurality of pieces of change information including the delayed change information; a detection unit that detects an abnormality based on an internal output sequence that is an output order of the plurality of pieces of change information by the delay processing unit; An anomaly detection program to function as a

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