Method for providing a communication path for electronic computing units connected to a port of an Ethernet switch in a vehicle using VLAN

Abstract

A method is proposed for providing a communication path for electronic computing units of a vehicle connected to each port of a switch when the electronic computing units are started up, wherein each port is assigned a VLAN with an associated VLAN ID or is assigned it at startup, so that communication with a computing unit connected to a port can only take place via the associated VLAN.

Description

[0001] The present invention relates to the field of testing and configuring electronic computing units connected to an Ethernet switch in a vehicle.

[0002] Vehicles are increasingly being equipped with sensors for environmental detection. Highly automated or even autonomous vehicles in particular require a large number of corresponding sensors to enable the most precise detection of the environment. Often, similar intelligent sensors, referred to as electronic processing units, are installed in different locations on the vehicle. Their standard factory configurations often include the same IP address and possibly even the same MAC address, making them difficult to clearly identify. It is also possible that the correct sensor type is connected to a switch port, but with the wrong configuration for that port, particularly with regard to the IP address and possibly the MAC address.

[0003] The invention is based on the object of providing an improved method for checking and configuring similar electronic computing units connected to an Ethernet switch.

[0004] This problem is solved by the features of the independent claims. Advantageous embodiments are the subject of the dependent claims.

[0005] A method is proposed for providing a communication path for electronic processing units of a vehicle, each connected to a port of a switch, when the electronic processing units are started up, wherein each port is assigned a VLAN with an associated VLAN ID or is assigned during start-up, so that communication with a processing unit connected to a port can only take place via the associated VLAN.

[0006] In one embodiment, a configuration of the electronic processing unit to be connected thereto is specified for each port, comprising a predetermined IP address, and / or a parameterization of the electronic processing unit, comprising at least one mounting position of the electronic processing unit connected to the respective port.

[0007] In one embodiment, when the electronic computing units are started up, the electronic computing units are configured with a configuration intended for the port. In one embodiment, the electronic computing units load their current configuration from an internal, non-volatile memory, and the configuration of the electronic computing units is checked. The configuration is checked by querying the current configuration of each electronic computing unit connected to a port. If the current configuration of the electronic computing unit does not match the configuration specified for the port, the electronic computing unit is reconfigured such that it receives the configuration specified for the respective port.

[0008] In one embodiment, each message transmitted to and / or from a VLAN has a tag that includes the VLAN ID of the VLAN.

[0009] In one embodiment, the tag is removed in the switch and before transmission to the electronic processing unit.

[0010] In one version, the switch is an Ethernet switch.

[0011] Furthermore, a computer program is proposed which is designed to carry out individual or all steps of the method by means of program code on a control unit which is part of an electronic control device.

[0012] Furthermore, a machine-readable storage medium is proposed on which the computer program is stored.

[0013] Furthermore, an electronic control device is proposed which is designed to execute the method implemented as a computer program.

[0014] Furthermore, a vehicle is proposed, comprising a plurality of electronic processing units, and a switch with a plurality of ports, wherein each electronic processing unit is connected to a port, and the electronic control device with which the switch is in communication connection.

[0015] Further features and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention, with reference to the figures of the drawing, which illustrate details of the invention, and from the claims. The individual features can be implemented individually or in combination in a variant of the invention.

[0016] Preferred embodiments of the invention are explained in more detail below with reference to the accompanying drawings. Fig. 1 shows a plurality of electronic computing units connected to a switch according to an embodiment of the present invention. Fig. 2 shows a schematic representation of several VLANs for carrying out the method according to an embodiment of the present invention.

[0017] In the following descriptions of the figures, the same elements or functions are provided with the same reference symbols.

[0018] As already mentioned, more and more sensors for environmental detection are being installed in vehicles. Especially for highly automated or even autonomous vehicles, a large number of corresponding sensors are required to enable the most precise detection of the environment. Many sensors are now designed as so-called intelligent sensors, i.e., they have their own integrated processing unit, which can at least partially process the information detected by the sensor. The processed information is then transmitted from this processing unit via appropriate cable connections to a switch 2, which is preferably designed as an Ethernet switch. Intelligent sensors, i.e., sensors with a processing unit, are hereinafter referred to as electronic processing units (ECUs) 1-3. Each electronic processing unit (ECUs) 1-3 is connected to a port P1-3 of the switch 2, as shown in Fig. 1. From this switch 2, the information is transmitted to a main control unit 1, which compiles all received information and processes it for further use. The switch 2 can be part of the main control unit 1, as shown in Fig. 1, or installed as a separate unit in the vehicle and connected to the main control unit 1 via a corresponding cable connection.

[0019] Often, similar ECU1-3 computing units are installed at different locations on the vehicle, e.g., several radar sensors arranged side by side at the front and rear of the vehicle. As soon as a wake-up signal is given, e.g., by operating the ignition (terminal 15) or via Wake-On-LAN, the ECU1-3 computing units start up in a defined sequence and load their current configuration from an internal, non-volatile memory. The configuration contains at least the current IP address, but can also contain parameters related to the sensor, e.g., the sensor's mounting position. After startup, the functions of the ECU1-3 computing units are available.

[0020] Typically, each electronic processing unit (ECU1-3) is assigned a specific port (P1-P3) on switch 2, which facilitates data exchange with the main control unit (ECU) 1. Basically, electronic processing units (ECU1-3) can be identified in three ways: a) about their arrangement on Switch 2, i.e. to which port P1-P3 they are connected, b) via its MAC address, which is a statically configured standard address, but is not necessarily unique, c) via the IP address of the computing unit ECU1-3, which is a statically configured standard address that is not unique.

[0021] Ports P1-P3 of switch 2 connected to electronic processing units ECU1-3 are assigned to the MAC addresses of electronic processing units ECU1-3 via a MAC address table. IP addresses of electronic processing units ECU1-3 are in turn assigned to the MAC addresses via corresponding tables. Furthermore, a predefined configuration of the connected electronic processing unit ECU1-3 is specified for each port P1-P3. Thus, by checking, i.e., identifying, the individual electronic processing unit ECU1-3 at a port P1-P3 and querying its configuration, it can be verified whether the electronic processing unit ECU1-3 is connected to the correct port P1-P3, i.e., whether its current configuration is correct.

[0022] Typically, either a default configuration is available, which is usually not the correct configuration for the corresponding port P1-P3, or a configuration that is correct for the respective electronic processing unit ECU1-3 and its position. If the correct configuration is not available, the respective electronic processing unit ECU1-3 must be reconfigured to obtain the configuration intended for its position.

[0023] This is especially necessary if several similar ECU1-3 computing units are installed in the vehicle and do not yet have the correct configuration for their location, or if they have a configuration suitable for a location but are connected to the wrong P1-P3 port. In these cases, the ECU1-3 electronic computing units may have the same default IP address, which results in multiple ECU1-3 electronic computing units responding when a so-called ping (attempting communication with a specific ECU1-3) is used.

[0024] Therefore, one objective of this invention is to provide the simplest possible identification of electronic processing units ECU1-3 connected to switch 2 via its ports P1-P3 (plugged into it and in communication with each other), as well as a unique communication path. Furthermore, in this context, automated configuration should be possible to configure the electronic processing units ECU1-3 according to their position, i.e., to which port P1-P3 they are connected. This should minimize the disruption to network operation and the impact on startup times.

[0025] To achieve this, it is recommended to use a so-called managed switch 2, e.g. a layer 2 smart switch or a layer 3 switch, and to assign a VLAN (virtual local area network) to each port P1, P2 of switch 2. The VLANs can be either port-based VLANs or, as is preferred, tagged VLANs, or a combination of both. With a port-based VLAN, switch 2 is logically divided into several switches, i.e. logical channels are defined to which specific ports are assigned. Tagged VLANs work on a frame-based basis, so that one port of switch 2 (here destination port Px, which is connected to the target controller TC) can use several VLANs. For this purpose, the individual Ethernet frames (network packets) are provided with a so-called tag with the associated VLAN ID (VLAN1, VLAN2).

[0026] For simplicity, Fig. 2 only two electronic processing units ECU1-2 and two ports P1-2 are shown. However, the method can also be applied to any number of ports P1-P3, as is clearly evident from the description of the principle of the method. The principle described below can, however, be applied analogously to a larger number of electronic processing units and ports. In the proposed method, each port P1-P2 is assigned its own VLAN with its own ID, referred to here as VLAN1, VLAN2. Furthermore, each port P1, P2 is assigned a specific configuration that includes at least one IP address. In addition, further parameters can also be stored in the configuration, e.g. the mounting position of the sensor of the electronic processing unit ECU1, ECU2, e.g. front bumper with exact mounting location and orientation, etc.By providing one VLAN per port P1, P2, independent virtual channels are created for each configuration path of the ECU1, ECU2, each connected to a port P1, P2. This allows all ECU1, ECU2 to have the same IP address and even the same MAC address. Thus, all ECU1, ECU2 can be used, checked, and reconfigured in parallel.

[0027] The destination port Px on switch 2 is used for communication between the electronic processing units ECU1, ECU2 and, for example, the main control unit 1, whereby the destination port Px is assigned to several VLANs. Communication from the electronic processing units ECU1, ECU2 to the main control unit 1 takes place by transmitting the signals / data detected by the sensors (as part of each ECU) as messages via the preconfigured destination port Px or a specified IP address. For this purpose, these messages are provided with a tag with the corresponding VLAN ID (VLAN1, VLAN2) at the input of switch 2 (port P1 or P2) so that for each of the electronic processing units ECU1, ECU2 it can be identified to which port P1, P2 it is connected. This means that, for example, port P1 is tagged with VLAN1 and port P2 with VLAN2. The tags are preferably set in switch 2.However, it is also possible to set the tags in the computing units ECU1, ECU2 (only after they have already been clearly identified).

[0028] The message transmission to the electronic processing units ECU1, ECU2, e.g. querying their configuration (at least their IP address), or communication to reconfigure them, is carried out by passing a message tagged with the corresponding VLAN ID (VLAN1, VLAN2) via the destination port Px to the switch 2, which reads the VLAN ID via the tag and transmits the message with the corresponding VLAN ID to the VLAN uniquely assigned to a port P1 or P2 and thus to the electronic processing unit ECU1, ECU2 located there. Fig. The Target Controller TC shown in Figure 2 serves to correctly tag the messages to be transmitted to the electronic processing units ECU1 and ECU2. It is a control unit, e.g., a microcontroller for controlling switch 2, and can also be part of the main control unit 1.

[0029] If ECU1 and ECU2 support tagged VLANs, the tagged messages can be forwarded directly from the target controller (TC) (without going through Switch 2). If ECU1 and ECU2 do not support tagged VLANs, Switch 2 removes the tag before forwarding the message to the corresponding ECU1 and ECU2.

[0030] By providing a VLAN for each port P1, P2 assigned to a specific, assigned configuration, electronic processing units ECU1, ECU2 can also be connected to a "wrong" port P1, P2. A "wrong" port P1, P2 is a port P1, P2 that does not match the configuration, i.e., the IP address and associated parameters such as mounting position, of the respective electronic processing unit ECU1, ECU2, and is therefore assigned to a different configuration. If an electronic processing unit ECU1, ECU2 is connected to the wrong port P1, P2, this will be detected during boot-up testing because the port P1, P2 (defined via the VLAN) does not match the configuration of the electronic processing units ECU1, ECU2 located there.

[0031] The VLANs also allow so-called broadcasts, i.e. messages, to be sent to all electronic processing units ECU1, ECU2 in a VLAN. Broadcasts can also be sent to all VLANs simultaneously, since the response is always uniquely assigned to a VLAN, i.e. the VLAN ID (VLAN1, VLAN2) from which the response was sent. If an electronic processing unit ECU1, ECU2 in a VLAN responds with the wrong IP address (and thus possibly an incorrect parameter configuration) during the start-up check, this electronic processing unit ECU1, ECU2 is reconfigured so that it receives at least the correct IP address. In addition, the correct parameter configuration for the mounting position, e.g. the mounting position of the sensor on the vehicle, can also be configured.

[0032] For example, a sensor (ECU) that was located in a predetermined position, e.g. on the front of the vehicle, may have been replaced. The new sensor (of the same type) is not yet configured after installation. When the system starts up, its configuration is requested, which means at least its IP address. If this does not match the IP address provided for port P1-P2 to which the sensor (ECU) is connected, the electronic processing unit ECU1, ECU2 is reconfigured. It is therefore assigned the appropriate IP address. In addition, its parameters can also be changed if they are stored there. Alternatively (if the parameters are stored elsewhere), they can also be stored in the electronic processing unit ECU1, ECU2 or in the main control unit 1 in connection with the IP address (and thus the MAC address).The data measured by the sensor is then processed accordingly to obtain the correct data for the installation location.

[0033] During start-up of the electronic processing units ECU1, ECU2 and Switch 2, the VLANs are either newly assigned (in the case of first-time use) or already assigned VLANs are activated. Then, the electronic processing units ECU1, ECU2, each of which is connected to a port P1, P2 located in a dedicated VLAN, are identified. If their current IP address does not match the IP address assigned to port P1, P2 (the VLAN), the corresponding electronic processing unit ECU1, ECU2 is reconfigured, i.e., at least its IP address is reconfigured. Additionally, other parameters can be configured, e.g., the mounting position on the vehicle. For this, the electronic processing units ECU1, ECU2 must have externally configurable IP addresses.

[0034] Due to the static IP address of each electronic processing unit (ECU1, ECU2), there are virtually no restrictions on message transmission. In particular, all electronic processing units (ECU1, ECU2) can be identified and, if necessary, reconfigured simultaneously, i.e., in parallel.

[0035] An advantage of the proposed method is that it is not necessary to provide configuration access to Switch 2, since the VLAN configuration of Switch 2 can be stored in a non-volatile memory connected to Switch 2 outside of Switch 2. Since the individual virtual networks (VLANs) are separated from each other and therefore cannot communicate with each other, the solution of providing VLANs offers additional security and safety against external attacks on the system. Furthermore, the ability to address ports P1, P2 and thus the electronic processing units ECU1, ECU2 in parallel, even if they have the same IP address, significantly accelerates startup.

[0036] The VLANs of ports P1-P2, to which the electronic processing units ECU1, ECU2 are connected, are port-based VLANs. Additionally, messages (from the ECU1, ECU2 direction) are tagged by Switch 2 or (toward the ECU1, ECU2 direction) by the Target Controller TC. These tags include port-specific VLAN IDs (VLAN1, VLAN2). This allows messages to be unambiguously assigned to a port P1, P2 and thus to an electronic processing unit ECU1, ECU2.

[0037] In one implementation, the VLANs are deactivated after startup, so that Switch 2 operates as a normal Switch 2, i.e., without VLANs, since they are no longer needed. New VLANs can also be defined or redefined for each port P1 and P2 during operation, if necessary.

[0038] The invention is not limited to switches 2 with only two or three ports P1-P3, as in Fig. 1 and Fig.2. There can therefore be more or fewer ports. Each port P1-P3 is assigned a predefined configuration of the associated electronic processing unit ECU1-3 in order to take into account the positioning of the respective processing unit ECU1-3 on the vehicle. For example, several identical electronic processing units ECU1-3 are located in a front area of ​​the vehicle and are designed as identical radar sensors which are arranged at a distance from one another on a bumper of the vehicle. Since each electronic processing unit ECU1-3 has a slightly different viewing angle, it is also necessary to configure it accordingly. The correct configuration is even more important if the individual identical electronic processing units ECU1-3 are arranged in different areas of the vehicle, e.g. if one is arranged in a front area and one in a rear area of ​​the vehicle.

[0039] The proposed method enables automatic, parallel, port-based verification, i.e., identification, of the electronic processing units (ECUs) 1-3, as well as individual configuration of each electronic processing unit (ECU) 1-3. This can be done regardless of whether multiple electronic processing units (ECUs) 1-3 have the same IP address.

[0040] This allows, in particular, new, replaced, or incorrectly connected ECU1-3 ports to be automatically identified, recorded (and, if necessary, reported to a person) and reconfigured (e.g., without workshop personnel requiring precise knowledge of the initialization processes, etc.) to receive the configuration intended for the P1-P3 port, in particular the IP address intended for it. This intended configuration is assigned to each P1-P3 port of Switch 2 via the associated wiring harness.

[0041] Electronic processing units ECU1-3 can be the intelligent sensors already described. In particular, the sensors are suitable for providing environmental detection, i.e., they are radar sensors, cameras, lidar sensors, for example, and for at least partially processing the acquired data. The method is preferably used when a large number of similar intelligent sensors are installed on the vehicle, as these generally have the same standard configuration. Similar sensors can also be swapped during repairs, meaning they also have to be reconfigured. The method is particularly suitable for highly automated and even autonomous driving. However, the method is not limited to the application in which the electronic processing units ECU1-3 are designed as intelligent sensors.The principle is applicable to any control unit connected via Ethernet, including sensors, actuators, and even other control units. Even if vehicles only have one ECU of the same type, it's conceivable that a specific configuration could be specified for that vehicle.

[0042] The method can be implemented by an algorithm as a computer program with corresponding program code, and can be executed by a computer or processor. Furthermore, a machine-readable storage medium on which the computer program is stored can also be provided.

[0043] The computer program can be executed on one or more electronic control devices, in particular the main control unit 1.

[0044] Control devices for executing the computer program are computing units which are designed to receive the data and signals transmitted via ports P1-P3 and either process them themselves, e.g. to provide environmental detection, or transmit them to other control devices for further processing. List of reference symbols 1 control device / main control unit 2 Switch TC Target Controller ECU1-3 electronic processing unit 1-3 P1-P3 Ports 1-3 Px destination port

Claims

[1] Method for providing a communication path for electronic processing units (ECU1-3) of a vehicle, each connected to a port (P1-P3) of a switch (2), when starting up the electronic processing units (ECU1-3), wherein each port (P1-P3) is assigned a VLAN with an associated VLAN ID (VLAN1, VLAN2) or is assigned during start-up, so that communication with a processing unit (ECU1-3) connected to a port (P1-P3) can only take place via the associated VLAN. [2] Method according to claim 1, wherein for each port (P1-P3) a configuration of the electronic processing unit (ECU1-3) to be connected thereto is specified, comprising a predetermined IP address, and / or a parameterization of the electronic processing unit (ECU1-3), comprising at least one mounting position of the electronic processing unit (ECU1-3) connected to the respective port (P1-P3). [3] Method according to one of the preceding claims, wherein, upon starting up the electronic processing units (ECU1-3), the electronic processing units (ECU1-3) are configured with a configuration provided for the port (P1-P3), or wherein the electronic processing units (ECU1-3) load their current configuration from an internal, non-volatile memory, and a check of the configuration of the electronic processing units (ECU1-3) is carried out, wherein the check of the configuration is carried out by querying the current configuration of each electronic processing unit (ECU1-3) connected to a port (P1-P3), and in the event that the current configuration of the electronic processing unit (ECU1-3) does not match the configuration specified for the port (P1-P3), the electronic processing unit (ECU1-3) is reconfigured such that it receives the configuration specified for the respective port (P1-P3). [4] Method according to one of the preceding claims, wherein each message transmitted to and / or from a VLAN has a tag comprising the VLAN ID (VLAN1, VLAN2) of the VLAN. [5] Method according to claim 4, wherein the tag is removed in the switch (2) and before transmission to the electronic processing unit (ECU1-3). [6] Method according to one of the preceding claims, wherein the switch (2) is an Ethernet switch. [7] Computer program which is designed to carry out individual or all steps of the method according to one of claims 1 to 6 by means of program code on a control unit which is part of an electronic control device (1). [8] A machine-readable storage medium on which the computer program according to claim 7 is stored. [9] Electronic control device (1) which is arranged to carry out the method implemented as a computer program according to claim 7. [10] Vehicle, comprising - several electronic processing units (ECU1-3), and - a switch (2) with several ports (P1-P3), each of which has an electronic processing unit (ECU1-3) connected to a port (P1-P3), - an electronic control device (1) according to claim 9, with which the switch (2) is in communication connection.

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