RELAY DEVICE

Abstract

A relay device (11 to 14) connected to at least one other of a plurality of relay devices by a communication line, the relay device comprising: a plurality of terminals (P1 to P4), wherein at least two of the terminals are redundant terminals (P1, P2) connected to a plurality of communication lines to provide a plurality of redundant transmit paths between the relay devices; a jamming detection unit (S40) configured to determine whether a frame transmitted by a destination relay device, which is one of the relay devices distinct from the relay device, and received via one of the redundant terminals of the relay device, is jammed; an anomaly transmitter (S50) configured to send an anomaly detection frame to the destination relay device when the jamming detection unit determines that the frame is jammed;a response receiver (S60) configured to determine whether a response frame is received from the destination relay device after the anomaly sender has transmitted the anomaly detection frame; and an anomaly determination unit (S70) configured to determine that an anomaly is occurring in any of the communication lines between the destination relay device and the relay device when the response receiver determines that the response frame is not received.

Description

[0001] The present disclosure relates to a relay device that configures a communication network.

[0002] For example, in an Ethernet network, a ring topology is formed by connecting Ethernet switches (hereafter referred to as switches) in a ring configuration. Ethernet is a registered trademark. In the case of the ring topology, the multiple switches are interconnected in a ring by connecting two of the ports of each switch to the ports of other switches. The multiple switches and a communication line connecting the switches configure a ring-shaped communication path capable of traversing the entire frame (hereafter referred to as the ring communication path). Furthermore, the ring communication path can be used as a two-system communication path, allowing each switch to send a frame either clockwise (i.e., in a one-way motion) or counterclockwise (i.e., in a one-way motion).

[0003] In the communication network disclosed in patent literature 1, a main switch, which is one of several ring-connected switches, sends an anomaly detection frame at fixed time intervals from one of the two terminals used for the ring connection. A slave switch, which is another switch, then forwards the received anomaly detection frame to a switch at the next stage. Furthermore, if it is determined that the frame cannot be received by another switch, each switch identifies that the communication path immediately upstream of the switch is anomalous in one frame circulation direction and sends an anomaly message frame, including the switch's ID, to the next-stage switch. The communication network disclosed in patent literature 1 therefore identifies an anomalous segment of the communication path.

[0004] However, in the technique disclosed in patent literature 1, it is necessary to shorten the aforementioned fixed time for the periodic transmission of the anomaly detection frame in order to detect an anomaly in the communication path at an early stage. This increases the frequency of transmission of the anomaly detection frame on the ring-shaped communication path, and there is a possibility that the normal frame, which stores the normal data, may not be transmitted on the ring-shaped communication path.

[0005] Patent Literature 1: JP 2017-34590 A

[0006] The purpose of this disclosure is to prevent the occurrence of a situation in which a normal framework cannot be used.

[0007] According to an exemplary embodiment, a relay device connected via a communication line to at least one of several other relay devices comprises: a plurality of terminals, wherein at least two of the terminals are redundant terminals connected to a plurality of the communication lines to provide a plurality of redundant transmit paths between the relay devices; a jamming detection unit configured to determine whether a frame transmitted by a destination relay device, which is one of the relay devices other than the relay device, and received via one of the redundant terminals of the relay device, is jammed; an anomaly transmitter configured to send an anomaly detection frame to the destination relay device when the jamming detection unit determines that the frame is jammed;a response receiver configured to determine whether a response frame is received from the destination relay device after the anomaly sender has transmitted the anomaly detection frame; and an anomaly determination unit configured to determine that an anomaly is present in any of the communication lines between the destination relay device and the relay device if the response receiver determines that the response frame is not received.

[0008] Since the relay device of the present disclosure, configured as described above, sends the anomaly detection frame when the frame is disrupted, the frequency of transmission of the anomaly detection frame over the multiple communication lines connected to the redundant ports can be reduced. Therefore, the relay device according to the present disclosure can prevent a situation in which a normal frame containing normal data cannot be sent over the multiple communication lines connected to the redundant port.

[0009] The aforementioned and other tasks, features, and advantages of the present disclosure will become clearer in the following detailed description, which was prepared with reference to the accompanying drawings. In the drawings: Fig. Figure 1 is a block diagram showing a configuration of a communication network; Fig. Figure 2 is an illustrative diagram showing a configuration of an Ethernet frame; Fig. Figure 3 is a first illustrative diagram showing an example of a MAC address table; Fig. Figure 4 is a second illustrative diagram showing an example of the MAC address table; Fig. Figure 5 is a flowchart showing the first half of a process for detecting anomalies; Fig. Figure 6 is a flowchart showing the second half of the anomaly detection process; Fig. Figure 7 is a flowchart showing a process of responding to anomalies; and Fig. Figure 8 is a flowchart that shows the process of the frame shipment.

[0010] Embodiments of the present disclosure are described below with reference to the drawings.

[0011] A communication network 1 According to the present embodiment, for example, an Ethernet network is mounted on a vehicle, e.g., a car, and as described in Fig. As shown in 1, the communication network comprises 1 the electronic control units (hereinafter referred to as ECUs) 11 to 22 and the communication lines 31 until 42 ECU is an abbreviation for Electronic Control Unit.

[0012] The ECUs 11 12 , 13 and 14 The Ethernet switches contain 51 , 52 , 53 and 54 The Ethernet switches 51 until 54 These are network switches that have the function of enabling communication between the other ECUs. 15 until 22 to forward.

[0013] The ECUs 11 12 , 13 and 14 The microcomputers also contain 61 , 62 , 63 and 64 The microcomputers 61 until 64 They have a CPU, ROM, RAM, and similar components (not shown). The various functions of microcomputers 61 until 64 These are realized by the CPU being able to execute a program stored on a non-volatile, tangible recording medium. In this example, the ROM corresponds to a non-volatile physical recording medium on which the program is stored. A method corresponding to the program is executed by running the program. The number of microcomputers that the ECUs 11 until 14 Configure can be one or more.

[0014] The switches 51 until 54These are, for example, Layer 2 switches and perform communication for forwarding according to the Ethernet standard. For this reason, the switch has... 51 via the connections P1 , P2 , P3 and P4 for sending and receiving frames, a MAC address table 71 and a communication control unit 73 to perform communication processing for forwarding according to the Ethernet standard. Like the switch 51 The switches contain 52 , 53 and 54 the connections P1 , P2 , P3 and P4 , a MAC address table 71 and a communication control unit 73 . Operating the switches 51 until 54 is controlled by the communication control unit 73 realized.

[0015] The communication control unit 73A communication control unit (CCU) is an electronic control device primarily configured by a microcomputer with a CPU, ROM, RAM, and similar components. Various functions of the microcomputer are realized by the CPU's ability to execute a program stored on a non-volatile, tangible recording medium. In this example, the ROM corresponds to a non-volatile physical recording medium on which the program is stored. A method corresponding to the program is executed by running the program. Some or all of the functions performed by the CPU can be configured as hardware by one or more integrated circuits (ICs) or similar components. The number of microcomputers that comprise the communication control unit... 73 Configure can be one or more.

[0016] In the communication network 1 are the connection P1 of the switch 51 the ECU 11 and the connection P1of the switch 52 the ECU 12 through the communication line 31 and the connection P2 of the switch 52 the ECU 12 and the connection P1 of the switch 53 the ECU 13 through the communication line 32 interconnected. Furthermore, the connection P2 of the switch 53 the ECU 13 and the connection P2 of the switch 54 the ECU 14 through the communication line 33 and the connection P1 of the switch 54 the ECU 14 and the connection P2 of the switch 51 the ECU 11 through the communication line 34 interconnected.

[0017] The ECUs 15 and 16 are via the communication lines 35 and 36 with the connections P3 and P4 of the switch 51 the ECU11 connected, and the ECUs 17 and 18 are via the communication lines 37 and 38 with the connections P3 and P4 of the switch 52 the ECU 12 connected. The ECUs 19 and 20 are via the communication lines 39 or 40 with the connections P3 and P4 of the switch 53 the ECU 13 connected, and the ECUs 21 and 22 are via the communication lines 41 or 42 with the connections P3 and P4 of the switch 54 the ECU 14 tied together.

[0018] In other words: The switches 51 until 54 are connected in a ring shape by the connections P1 and P2 each switch with its ports P1 and P2to be connected to the other switches. The ring shape is also a loop shape. From the connections P1 until P4 the switches 51 until 54 are the connectors not used for ring-shaped connections P3 and P4 as a communication node with the ECUs 15 until 22 tied together.

[0019] For this reason, there is a communication path between the switches. 51 until 54 , for example, if the switch 51 The starting point is set to create a counter-clockwise communication path, which is one direction from the switch. 51 to the switch 52 is, and a counterclockwise communication path that indicates one direction from the switch 51 to the switch 54 The two communication paths can be considered two communication paths for communication between the switches and the other switches. 51 until 54connected ECUs of the ECUs 15 until 22 function.

[0020] The following description refers to the connections. P1 until P4 the switches 51 until 54 the connections used for the ring-shaped connection P1 and P2 also known as ring terminals. The terminals P3 and P4 , which are not ring terminals (i.e., terminals that are not used for a ring connection) are also referred to as normal terminals.

[0021] The microcomputers 61 until 64 are via the CAN communication line 46 They are interconnected to communicate with each other and to send and receive data according to the CAN communication protocol. CAN stands for Controller Area Network. CAN is a registered trademark.

[0022] A member of the communication network1 communicated framework, e.g. as in Fig. Figure 2 shows a preamble area, a destination MAC address range, a source MAC address range, a VLAN tag area, a type area, a data area, and an FCS area. MAC stands for Media Access Control. VLAN stands for Virtual Local Area Network. FCS stands for Frame Check Sequence.

[0023] The destination MAC address range stores the MAC address of the frame's destination device (hereinafter referred to as the destination MAC address). The source MAC address range is the MAC address of the frame's source device (hereinafter referred to as the source MAC address).

[0024] In the VLAN tag area, a TPID is placed in a 2-byte area in the first half, and a TCI is placed in a 2-byte area in the second half. The TCI comprises a 3-bit PCP, a 1-bit CFI, and a 12-bit VID. In this embodiment, for example, the VID in the VLAN tag area is used to store information for identifying anomaly detection frames, which will be described later. TPID stands for Tag Protocol Identifier. TCI stands for Tag Control Information. PCP stands for Priority Code Point. CFI stands for Canonical Format Indicator. VID stands for VLAN Identifier.

[0025] On the other hand, the MAC address table 71 each of the switches 51 until 54The MAC address of the device connected at the end of the port is registered for each port in the switch. Assuming that the number assigned to the ECU as a symbol is "n", the MAC address of the ECU will be referred to as "ADn" in the following description. Fig. 3 and Fig. 4.

[0026] As in Fig. 3 is shown, for example, in the MAC address table. 71 of the switch 51 “AD15”, which is the MAC address of the ECU 15 is for normal connection P3 registered, and “AD16”, which is the MAC address of the ECU 16 is for normal connection P4 . For each of the ring connections P1 and P2 “AD17” to “AD22” are registered; these are the MAC addresses of the ECUs. 17 until 22 , which have the normal connections P3 and P4 the other switches 52 until 54are connected. This is because the ECUs 17 until 22 via the other switches 52 until 54 with the ends of the ring terminals P1 and P2 of the switch 51 are connected.

[0027] As in Fig. As shown in section 4, for example, in the MAC address table 71 of the switch 52 “AD17”, which is the MAC address of the ECU 17 is, in normal connection P3 registered, and “AD18”, which is the MAC address of the ECU 18 is, is in normal connection P4 registered. For each of the ring connections P1 and P2 “AD15”, “AD16” and “AD19” to “AD22” are registered, which are the MAC addresses of the ECUs. 15 , 16 and 19 until 22 are those that use the standard connections P3 and P4 the other switches 51 , 53 and 54 are connected.

[0028] Furthermore, the MAC address table 71 each of the switches 51 until 54 In addition to the MAC address, the number of hops for each of the ring connections is also included. P1 and P2 The number of hops is information indicating the number of other switches a frame sent from the switch's ring terminal passes through to reach the destination ECU. In this case, the destination ECU is an ECU listed in the MAC address table. 71 registered MAC address in conjunction with the number of hops.

[0029] As in Fig. Figure 3 shows, for example, “1” is the number of jumps for “AD17” and “AD18” for the ring connection. P1 in the MAC address table 71 the switch 51 registered. This is because of the ring-connected switches. 51 until 54 a switch 52 in the communication path from the ring connectionP1 of the switch 51 to the ECU connection 17 or to the ECU connection 18 is present. On the other hand, "3" is registered as the number of hops for "AD17" and "AD18" that are used for the ring connection. P2 are registered. The reason for this is that three of the ring-connected switches are 52 until 54 exist in the communication path that extends from the ring connection P2 of the switch 51 up to the ECU connection 17 or ECU 18 extends.

[0030] In the MAC address table 71 the switch 51 "3" represents the number of connections for the ring connection P1 Registered hops for "AD21" and "AD22". The reason for this is that three switches 52 until 54 exist in the communication path that extends from the ring connection P1 of the switch 51 up to the ECU 21 or 22extends. On the other hand, "1" is registered as the number of hops for "AD21" and "AD22" that are used for the ring connection. P2 are registered. The reason for this is that a switch 54 in the communication path from the ring connection P2 of the switch 51 up to the ECU 21 or ECU 22 is available.

[0031] In the MAC address table 71 of the switch 51 “2” is the number of hops for the “AD19” and the “AD20” for the ring connection. P1 registered. This is because two switches 52 and 53 exist in the communication path that extends from the ring connection P1 of the switch 51 up to the ECU 19 or the ECU 20 extended. Then "2" also becomes the number of jumps for the "AD19" and the "AD20" for the ring connection. P2 registered. The reason for this is that two switches 53 and 54exist in the communication path that extends from the ring connection P2 of the switch 51 up to the ECU 19 or ECU 20 extends.

[0032] The communication control unit 73 each of the switches 51 until 54 It has the following function for sending frames.

[0033] If a frame is disconnected from one of the ports P1 until P4 The communication control unit determines the signal received from the switch. 73 a send destination port of the received frame (hereinafter referred to as the received frame) based on the destination MAC address in the received frame and the MAC address table 71 .

[0034] In particular, the communication control unit determines 73 , whether the same MAC address as the destination MAC address in the received frame is found in the MAC address table 71for the connections other than the connection at which the frame is received, among the connections P1 until P4 is registered or not. If the same MAC address as the destination MAC address is registered in the received frame, the communication control unit determines 73 the port in which the MAC address is listed as the destination port in the MAC address table 71 is registered. If the MAC address is not the same as the destination MAC address in the received frame in the MAC address table. 71 The communication control unit determines when it is registered. 73 All ports except the one receiving the frame are designated as the destination port. Then the communication control unit transmits. 73 the received frame from the connection specified as the transmission destination.

[0035] If a frame is disconnected from one of the ports P1 until P4The communication control unit registers what was received. 73 each of the switches 51 until 54 The number of the port on which the frame is received and the source MAC address in the received frame, in conjunction with each other in the MAC address table. 71 This function is a general MAC address learning function.

[0036] For this reason, in each of the switches 51 until 54 , if a frame is connected to one of the normal ports P3 and P4 The source MAC address is received and is listed in the MAC address table. 71 for the port on which the frame is received, registered. For example, if the port P3 the switch 51 connected ECU 15 sends the frame, as in Fig. Figure 3 shows the MAC address of the ECU. 15 for the connection P3 in the MAC address table 71 the switch51 registered.

[0037] In the communication network configured as described above 1 leads the communication control unit 73 each of the ECUs 11 until 14 an anomaly detection process, an anomaly response process, and a frame transmission process, which will be described later.

[0038] First, the anomaly detection processing procedure is described. The anomaly detection process is a process that occurs during the operation of the ECUs. 11 until 14 The process of anomaly detection is executed repeatedly. This process is performed for each of the two adjacent relay devices. The adjacent relay devices are two relay devices directly connected to each of the multiple ring-connected relay devices. The adjacent relay devices of the ECU 11 Examples include the ECU. 12and the ECU 14 The adjacent relay devices of the ECU are similar. 12 the ECU 11 and the ECU 13 The adjacent relay devices of the ECU 13 are the ECUs 12 and the ECU 14 The adjacent relay devices of the ECU 14 are the ECUs 11 and the ECU 13 .

[0039] For this reason, for example, the communication control unit 73 the ECU 11 the anomaly detection process according to the ECU 12 and the anomaly detection process according to the ECU 14 The process for detecting anomalies, which the ECU uses, is over. 12 corresponds and from the communication control unit 73 the ECU 11 is executed, and the process for detecting anomalies, which the ECU 14 The corresponding actions can be performed separately.

[0040] During the execution of the anomaly detection process, the communication control unit determines 73 first in S10 , whether a continuation marker provided in RAM F2 is set or not, as in Fig. Figure 5 is shown. In the following description, setting a flag indicates that a value of the flag is set to 1, and deleting the flag indicates that the value of the flag is set to 0.

[0041] If the continuation indicator F2 The communication control unit determines when the deletion occurs. 73 in S20 Whether or not a normal frame was received from adjacent relay devices. The normal frame is a frame received by the ECUs. 11 until 22The frame used to control the vehicle is sent and received, and is different from an anomaly detection frame and a response frame, which will be described later. The normal frame, for example, contains image and audio data.

[0042] If the normal frame was not received from the adjacent relay device, the communication control unit 73 to S40 over. On the other hand, the communication control unit sets 73 After receiving the normal frame, a timer TM present in RAM (i.e., sets the timer TM to 0) is entered into S30 back and travels with S40 The timer TM is a timer that increments (i.e., adds 1) every 1 ms, for example.

[0043] After progressing to S40 , determines the communication control unit 73 , whether the value of the timer TM has a preset value for determining the anomaly J1(e.g., a value corresponding to 100 ms) exceeds or does not exceed this value. The value for determining the anomaly J1 is set to a value that exceeds the maximum value of the transmission interval of the normal frame.

[0044] In this example, if the value of the timer TM is equal to or less than the value used to determine the anomaly J1 is, terminates the communication control unit 73 temporarily interrupts the anomaly detection process. On the other hand, if the value of the time cue TM affects the value of the anomaly determination... J1 If this exceeds the limit, the communication control unit sends 73 an anomaly detection frame to the adjacent relay devices in S50 The identification information of the anomaly detection framework is stored in the aforementioned VID of the anomaly detection framework.

[0045] In S60 The communication control unit then determines 73The communication control unit checks whether a response frame has been received from a neighboring relay device. If the response frame has not been received from the neighboring relay device, the communication control unit sets the status to... 73 that in RAM S70 provided anomaly markers F1 Furthermore, the communication control unit initiates 73 in S80 the microcomputer (i.e., one of the microcomputers) 61 , 62 , 63 and 64 ), to send a path anomaly message indicating that an anomaly exists in the communication line between the relay device where the communication control unit is located. 73 is mounted, which performs the anomaly detection process, and the adjacent relay devices via the CAN communication line 46 a different relay device has occurred. For example, if the relay device that performs the anomaly detection process is the ECU 13and the adjacent relay device the ECU 12 is, the ECU sends 13 The path anomaly message indicates that there is an anomaly on the communication line. 32 which occurred, to the ECUs 11 , 12 and 14 .

[0046] At S90 sets the communication control unit 73 the timer TM back. In S100 sets the communication control unit 73 a continuation indicator F2 Furthermore, the communication control unit 73 in S110 It returns a CT transmission counter provided in RAM and terminates the anomaly detection process once.

[0047] If a response frame is received from the adjacent relay device in S60 The communication control unit deletes the received message. 73 the anomaly marker F1 in S120 Then the communication control unit sets 73 inS130 The timer TM is reset and the anomaly detection process is completed once.

[0048] If the continuation indicator F2 in S10 The communication control unit determines when it is set. 73 , whether the value of the transmission counter CT has a preset value for determining the end of transmission J2 in S140 exceeds or does not, as in Fig. 6 is shown. In this example, the communication control unit determines 73 , if the value of the transmission counter CT is equal to or less than the value used to determine the end of transmission J2 is whether the value of the timer TM has a preset value for the anomaly transmission determination. J3 in S150 exceeds or does not. The value for the anomaly transmission determination. J3 It is set so that it is smaller than the value used to determine the anomaly. J1 is.

[0049] In this example, if the value of the timer TM is the value for the anomaly transmission determination J3 If this exceeds the limit, the communication control unit sends 73 the framework for anomaly detection to the adjacent relay device in S160 .

[0050] Then the communication control unit determines 73 in S170 The communication control unit determines whether a response frame has been received from the adjacent relay device. If no response frame has been received from the adjacent relay device, the communication control unit sets the status to... 73 the timer TM in S180 back. Furthermore, the communication control unit increases 73 in S190 The CT transmission counter completes the anomaly detection process once.

[0051] If the response frame is from the adjacent relay device in S170 The communication control unit deletes the received message. 73 the anomaly markerF1 in S200 Furthermore, the communication control unit initiates 73 in S210 the microcomputer (i.e., one of the microcomputers) 61 , 62 , 63 and 64 ), to send a path-normal message indicating that the communication lines between the relay device, on which the communication control unit is located, are not functioning. 73 is mounted, which performs the anomaly detection process, and the adjacent relay devices via the CAN communication line 46 are normal to another relay device.

[0052] In S220 sets the communication control unit 73 The timer TM is reset. Additionally, the communication control unit is cleared. 73 in S230 the continuation indicator F2 and ends the anomaly detection process once.

[0053] If the value of the transmission counter CT is the value for determining the end of transmissionJ2 in S140 If this exceeds the limit, the communication control unit sets 73 the timer TM2 provided in RAM (i.e., sets TM2 to 0) in S240 back and travels with S250 The timer TM2 is a timer that increments (i.e., increases by 1) every 1 second. After progressing to S250 determines the communication control unit 73 , whether the value of the timer TM2 has a preset value for determining the stop when anomaly detection occurs J4 exceeds or does not. The value for determining the stop when anomaly detection occurs. J4 is set so that it is sufficiently larger than the value J1 for determining the anomalies and the value for the anomaly transmission determination J3 If the value of the timer TM2 is equal to or less than the value used to determine the stop during anomaly detection J4is, the communication control unit repeats 73 S250 . If, on the other hand, the value of the timer TM2 determines the value for the stop when anomaly detection occurs. J4 If the limit is exceeded, the communication control unit deletes it. 73 the continuation indicator F2 in S260 and ends the anomaly detection process once.

[0054] Next, the process of the response to anomalies, initiated by the communication control unit, will be described. 73 in each of the ECUs 11 until 14 is executed. The anomaly response process is a process that occurs during the operation of the ECUs. 11 until 14 is executed repeatedly.

[0055] During the execution of the anomaly response process, as described in Fig. As shown in 7, the communication control unit determines 73First, whether the anomaly detection frame is detected by the adjacent relay device in S310 was received or not. If the anomaly detection frame was not received, the communication control unit terminates. 73 The anomaly response process once. On the other hand, the communication control unit sends 73 , when the anomaly detection frame is received, the response frame is sent to the adjacent relay device that contains the source of the anomaly detection frame in S320 is, and ends the anomaly response process once.

[0056] Next, the sequence of the frame transmission process, which is carried out by the communication control unit, is described. 73 in each of the ECUs 11 until 14 is executed. The frame transmission process is a process that occurs during the operation of the ECUs. 11 until 14 is executed repeatedly.

[0057] Once the framework submission process has been completed, as described in Fig. As shown in 8, the communication control unit determines 73 first, whether a frame in S410 to send or not. If no frame is to be sent, the communication control unit terminates. 73 the framework submission process once.

[0058] On the other hand, if a frame is to be sent, the communication control unit determines 73 , whether there is an anomaly in the communication line in S420 has occurred or not. In particular, the communication control unit identifies 73 a communication line in which an anomaly has occurred, based on the value of the anomaly indicator. F1 , which is located in the RAM of the communication control unit 73 is provided, and the path anomaly message received from another relay device. If the communication control unit 73The communication control unit identifies the communication line in which the anomaly occurred. 73 It was determined that the anomaly occurred in the communication line. If the communication control unit 73 On the other hand, if the communication line in which the anomaly occurred cannot be identified, the communication control unit 73 confirmed that the anomaly in the communication line did not occur.

[0059] Here, the communication control unit determines 73 , if no anomaly occurs in the communication line, the sending port is selected based on the destination of the frame to be sent and the MAC address table. 71 in S430 and travels with S450 on.

[0060] If, on the other hand, an anomaly has occurred in the communication line, the communication control unit determines 73based on the communication line in which the anomaly occurred and the destination of the frame to be sent in S440 a transmitting connection capable of sending the frame to the destination, and travels with the S450 continued. For example, it is assumed that the ECU 11 a frame to the ECU 19 sends when there is an anomaly in the communication line 32 occurs. In this case, the communication control unit determines 73 the ECU 11 the transmit connection as a ring connection P2 .

[0061] If you are going to S450 The communication control unit will then send 73 the framework of which in S430 or S440 The specified transmission port is used to end the frame transmission process once.

[0062] The ECU configured as described above 11 is via the communication lines 31 and 34 with the two ECUs 12and 14 connected. Similarly, the ECU is 12 via the communication lines 31 and 32 with the two ECUs 11 and 13 connected. The ECU 13 is via the communication lines 32 and 33 with the two ECUs 12 and 14 connected. The ECU 14 is via the communication lines 34 and 33 with the two ECUs 11 and 13 connected. Of the several connections P1 , P2 , P3 and P4 , which are in each of the ECUs 11 until 14 Included are two connections P1 and P2 Ring terminals.

[0063] Each of the ECUs 11 until 14 determines whether the normal frame sent by the adjacent relay devices and via the ring terminals of the ECUs 11 until 14whether it is received, whether it is disrupted, or not.

[0064] If each of the ECUs 11 until 14 Determined that the normal framework is disrupted, each of the ECUs sends a signal. 11 until 14 the anomaly detection frame to the adjacent relay devices.

[0065] The ECUs 11 until 14 They determine whether or not a response frame was received from the neighboring relay devices after the transmission of the anomaly detection frame.

[0066] If the ECUs 11 until 14 Each of the ECUs determines that the response frame was not received. 11 until 14 determined that there was an anomaly in the communication line between the adjacent relay device and the ECUs 11 until 14 has occurred.

[0067] Since the ECUs 11 until 14To send the anomaly detection frame when the normal frame is disturbed, the transmission frequency of the anomaly detection frame can be adjusted on the communication lines connected to the ring terminals, as described above. 31 until 34 can be reduced. For this reason, the ECUs can 11 until 14 to prevent a situation in which the normal framework in which normal data is stored is not accessible via the communication lines connected to the ring terminals 31 until 34 can be sent.

[0068] The ECUs 11 until 14 They each determine that the normal frame is disturbed if a non-receipt time, during which the normal frame is not received by the adjacent relay devices, exceeds a time that is not equal to the preset value for determining the anomaly. J1 This corresponds to the time required to determine the anomaly.J1 This corresponds to a longer value than the maximum value of a frame transmission interval of the normal frame, which is a frame for transmitting normal data. This allows the ECUs to 11 until 14 It is easy to determine whether the normal framework is disrupted or not.

[0069] Once it has been determined that the anomaly occurred in the communication line, the ECUs send 11 until 14 The anomaly detection frame is repeatedly sent to the adjacent relay devices. Furthermore, the ECUs 11 until 14 Each ECU determines whether or not a response frame was received from the adjacent relay devices after the transmission of the anomaly detection frame. 11 until 14 determined that the communication line between the adjacent relay devices and the ECUs 11 until 14This is normal when it is determined that the response frame has been received. Consequently, the ECUs can 11 until 14 Even after determining that an anomaly has occurred in the communication line, determine that the communication line has returned to normal when the communication line has returned to normal.

[0070] The ECUs 11 until 14 Send the anomaly detection frame as often as the preset value for determining the end of transmission allows. J2 corresponds to each time a time elapses that corresponds to the preset value for the anomaly transmission determination. J3 This corresponds to the result. As a result, the ECUs can 11 until 14The number of retransmissions and the retransmission cycle of the anomaly detection frame can be arbitrarily set. This is because the anomaly detection process is paused for a predetermined time after the anomaly detection frame has retransmitted a number of times according to the preset value for determining the end of transmission. J2 The processing loads of the ECUs can be reduced once they have been sent. 11 until 14 be reduced.

[0071] If the ECU 11 determined that there is an anomaly in the communication line between the adjacent relay devices and the ECU 11 The ECU sends the following information. 11 a path anomaly message indicating that an anomaly has occurred, to a relay device other than the ECU 11 If each of the ECUs 12 until 14 determined that there is an anomaly in the communication line between the adjacent relay devices and the ECUs 12until 14 Each of the ECUs sends a message when this has occurred. 12 until 14 a path anomaly message indicating that an anomaly has occurred, to relay devices other than the ECUs 12 until 14 As a result, the ECUs can 11 until 14 the relay device that connects the communication network 1 configured to provide information that identifies the location where the anomaly occurs in the communication line.

[0072] The ECUs 11 until 14 Each sends the path anomaly message using the CAN communication line. 46 , which are separated from the communication lines 31 until 34 differs. As a result, the ECUs can 11 until 14 Each path anomaly message can be easily sent without revealing the location of the anomaly in the communication lines. 31 until 34is taken into account.

[0073] The ECUs 11 until 14 Each ECU identifies an anomalous communication line, i.e., a communication line in which an anomaly has occurred. Then the ECUs send 11 until 14 Each frame avoids the identified anomalous communication line. Therefore, the ECUs can 11 until 14 to prevent a situation in which a frame cannot be sent to the relay devices that comprise the communication network 1 configure.

[0074] In the embodiment described above, the ECUs correspond to 11 until 14 each a relay device, the ring connection corresponds to a redundant connection and the adjacent relay device corresponds to a target relay device.

[0075] Furthermore, it corresponds S40the processing as a unit for determining disturbances, S50 the processing as a unit for the transmission of anomalies, S60 the processing as a unit for receiving responses and S70 the processing as a unit for the determination of anomalies.

[0076] A time that corresponds to the value for anomaly determination J1 corresponds to a time for anomaly detection, S140 until S160 , S180 and S190 correspond to processing as a continuous anomaly transmitter, S170 corresponds to processing as a receiving unit for a continuation response and S200 This corresponds to processing as a normal unit of determination.

[0077] The number of times the value is used to determine the end of the transmission J2 corresponds to the number of repeat transmissions, and the time corresponding to the value for the anomaly transmission determination. J3This corresponds to the repetition end cycle.

[0078] Furthermore, it corresponds S80 The processing as an anomaly reporting unit, the path anomaly message corresponds to a message about the occurrence of anomalies and the CAN communication line. 46 This corresponds to a communication path that differs from the communication line.

[0079] S420 corresponds to processing as an anomaly identification unit, and S440 and S450 correspond to processing as an avoidance sender.

[0080] Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the embodiment described above, and various modifications may be made to implement the present disclosure. [Modification 1]

[0081] In the above embodiment, for example, the number of ECUs 12, the number of switches 4 and the number of connections 4 However, these numbers are examples and other values ​​can be used. The communication protocol can be a protocol other than Ethernet. [Modification 2]

[0082] As in Fig. 6 is shown in S140 , if the value of the transmission counter CT is the value for determining the end of transmission J2 exceeds the anomaly detection process in S240 and S250 stopped for a predetermined time (anomaly detection stop value) J4 ), however, the present disclosure is not limited to the above example. For instance, the anomaly detection process can be paused until a predetermined process is executed (e.g., when the vehicle's power supply is switched off and on again), instead of S240 and S250 .

[0083] The ECUs11 until 14 The procedures described in this communication can be implemented by a dedicated computer, provided by the configuration of a processor and memory programmed to perform one or more functions embodied by a computer program. Alternatively, the ECUs 11 until 14 and the procedures described in this communication are implemented by a dedicated computer, provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the ECUs 11 until 14and the procedures described in this communication are implemented by one or more dedicated computers configured by combinations of processors and memories programmed to perform one or more functions, and processors configured by one or more hardware logic circuits. The computer program may also be stored on a computer-readable, non-volatile, tangible recording medium as computer-executable instructions. The method for realizing the functions of the respective in the ECUs 11 until 14 The included units do not necessarily have to include software, and all functions can be implemented with one or more hardware components.

[0084] The multiple functions of a component in the above embodiment can be implemented by several components, or a single function of a component can be implemented by several components. Furthermore, multiple functions of several components can be implemented by a single component, or a single function implemented by several components can be implemented by a single component. Additionally, part of the configuration of the above embodiment can be omitted. At least part of the configuration of the above embodiment can be added to or replaced by the configuration of the other above embodiment.

[0085] In addition to the ECUs described above 11 until 14 The present disclosure can be implemented in various forms, such as a system that controls the ECUs. 11 until 14as a component, it contains a program that causes a computer to function as the ECUs. 11 until 14 functions, a non-temporary physical recording medium, such as a semiconductor memory, in which the program is recorded, and a method for detecting anomalies.

[0086] The control devices and methods described in this disclosure can be implemented by a special-purpose computer created by configuring a memory and a processor programmed to perform one or more specific functions embodied in computer programs. Alternatively, the control devices and methods described in this disclosure can be implemented by a special-purpose computer created by configuring a processor provided by one or more special-purpose hardware logic circuits.Alternatively, the control devices and methods described in this disclosure can be implemented by one or more specialized computers created by configuring a combination of a memory and a processor programmed to perform one or more specific functions, and a processor provided by one or more hardware logic circuits. The computer programs can be stored as instructions to be executed by a computer on a tangible, non-volatile, computer-readable medium.

[0087] It should be noted that a flowchart or the processing of the flowchart in this application contains sections (also referred to as steps), each of which is, for example, as S10can be displayed. Furthermore, each section can be divided into multiple subsections, while multiple sections can be combined into a single section. In addition, each of the sections configured in this way can also be referred to as a device, module, or means.

[0088] While the present disclosure has been described with reference to embodiments thereof, it is to be understood that the disclosure is not limited to embodiments and constructions. The present disclosure is intended to cover various modifications and equivalent arrangements. Furthermore, the various combinations and configurations, as well as other combinations and configurations, including more, fewer, or only a single element, are within the scope and meaning of the present disclosure. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2017034590 A

[0005]

Claims

[1] A relay device (11 to 14) which is connected to at least one other of a plurality of relay devices by a communication line, the relay device comprising: a plurality of connections (P1 to P4), wherein at least two of the connections are redundant connections (P1, P2) which are connected to a plurality of communication lines to provide a plurality of redundant transmission paths between the relay devices; a fault detection unit (S40) configured to determine whether a frame sent by a destination relay device, which is one of the relay devices that is different from the relay device, and received via one of the redundant terminals of the relay device, is faulty; an anomaly transmitter (S50) configured to send an anomaly detection frame to the destination relay device when the fault detection unit determines that the frame is faulty; a response receiver (S60) configured to determine whether a response frame is received from the destination relay device after the anomaly sender has transmitted the anomaly detection frame; and an anomaly detection unit (S70) that is configured to determine that an anomaly is occurring in one of the communication lines between the destination relay device and the relay device when the response receiver determines that the response frame is not being received. [2] The relay device according to claim 1, wherein: The interference detection unit determines that the frame is interferenced if a non-receipt time, during which the frame is not received by the destination relay device, exceeds a predetermined anomaly detection time; and the time required to determine the anomaly is longer than the maximum value of a frame transmission interval of a normal frame, i.e., the frame for transmitting normal data. [3] The relay device according to claim 1 or 2, further comprising: a continuation anomaly transmitter (S140 to S160, S180, S190) configured to repeatedly send the anomaly detection frame to the target relay device after the anomaly determination unit has determined that the anomaly is occurring in one of the communication lines; a continuation response receiver (S170) configured to determine whether the response frame is received by the destination relay device after the continuation anomaly sender has transmitted the anomaly detection frame; and a normal determination unit (S200) that is configured to determine that one of the communication lines between the destination relay device and the relay device is normal when the continuation reply receiver determines that the reply frame is received. [4] The relay device according to claim 3, wherein: The continuation anomaly transmitter sends the anomaly detection frame a predetermined number of times in retransmissions each time a predetermined retransmission period has elapsed. [5] The relay device according to any one of claims 1 to 4, further comprising: an anomaly reporting unit (S80) that is configured to send a message about the occurrence of an anomaly, indicating that the anomaly is occurring, to at least one other of a plurality of relay devices besides the relay device, when the anomaly determination unit determines that the anomaly is occurring in one of the communication lines between the destination relay device and the relay device. [6] The relay device according to claim 5, wherein: the anomaly reporting unit sends the report of the occurrence of an anomaly via a communication path (46) that is distinct from the multitude of communication lines. [7] The relay device according to any one of claims 1 to 6, further comprising: an anomaly identification unit (S420) configured to identify an anomalous communication line, which is the communication line in which the anomaly occurs; and an avoidance transmitter (S440, S450) configured to send the frame to the relay device by avoiding the anomalous communication line identified by the anomaly identification unit.

Images