Method for checking, configuring and reconfiguring electronic computing units connected to an Ethernet switch in a vehicle by controlled port activation / deactivation

Abstract

Method for port-based verification of the configuration of electronic computing units (ECU1-3) of a vehicle connected to a port (P1-P3) of a switch (2) during startup of the electronic computing units (ECU1-3), wherein - for each port (P1-P3) a configuration of the electronic computing unit (ECU1-3) to be connected is specified, comprising at least a specified IP address, and - when the electronic computing units (ECU1-3) are started up, they load their current configuration from an internal, non-volatile memory, and a configuration check of the electronic computing units (ECU1-3) is performed, whereby the configuration check is carried out by - all ports (P1-P3) of the switch (2) are deactivated one after the other, except for one port (P1-P3) at a time, until each port (P1-P3) has been active once, and the electronic processing unit (ECU1-3) connected to the respective active port (P1-P3) is checked, whereby if the current configuration of the electronic processing unit (ECU1-3) connected to the active port (P1-P3) does not match the configuration specified for the port (P1-P3), the electronic processing unit (ECU1-3) is reconfigured, and - after all electronic computing units (ECU1-3) have been checked, all ports (P1-P3) are activated and the boot process continues.

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 at different locations on the vehicle. In their standard factory configuration, these sensors have the same IP address and possibly even the same MAC address, making them often difficult to identify. It can also happen 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] DE 10 2017 212 256 A1 shows a method and a device for configuring similar network components as well as a motor vehicle.

[0004] DE 10 2020 209 221 A1 shows a method for coupling and connecting a sensor and a communication network.

[0005] EP 3 432 516 A1 shows a network switch and a method for automatic reconfiguration.

[0006] US 7,380,025 B1 shows a method and apparatus for providing a role-based configuration of a port of a network element.

[0007] 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.

[0008] This problem is solved by the features of the independent claims. Advantageous embodiments are the subject of the dependent claims.

[0009] A method is proposed for port-based checking of the configuration of electronic processing units of a vehicle, each connected to a port of a switch, when starting up the electronic processing units, wherein for each port a configuration of the electronic processing unit to be connected to it is specified, at least comprising a specified IP address, and when starting up the electronic processing units, these load their current configuration from an internal, non-volatile memory, and a check of the configuration of the electronic processing units is carried out, wherein the configuration check is carried out by successively deactivating all ports except for one port of the switch until each port has been active once, and the electronic processing unit connected to the respectively active port is checked, wherein in the casethat the current configuration of the electronic processing unit connected to the active port does not match the configuration specified for the port, the electronic processing unit is reconfigured, and after all electronic processing units have been checked, all ports are activated and the boot process continues.

[0010] In one embodiment, the configuration of each port further comprises a parameterization of the electronic computing unit, comprising at least one mounting position of the electronic computing unit connected to the respective port on the vehicle.

[0011] In one embodiment, the electronic computing units are formed as intelligent sensors, comprising radar sensors, cameras, lidar sensors, with associated processing unit.

[0012] In one version, the switch is an Ethernet switch.

[0013] In one embodiment, the ports of the switch are mapped to the MAC addresses of the electronic computing units via a MAC address table, and the IP addresses of the electronic computing units are mapped to the MAC addresses via a host controller.

[0014] 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.

[0015] Furthermore, a machine-readable storage medium is proposed on which the computer program is stored.

[0016] Furthermore, an electronic control device is proposed which is designed to execute the method implemented as a computer program.

[0017] 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.

[0018] 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.

[0019] Preferred embodiments of the invention are explained in more detail below with reference to the accompanying drawings. Fig. 1 shows components necessary for configuring ECUs according to an embodiment of the present invention. Fig. 2 to 5 show a flow of configuration of ECUs according to an embodiment of the present invention.

[0020] In the following descriptions of the figures, the same elements or functions are provided with the same reference symbols.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Ports P1-P3 of switch 2 connected to the electronic processing units ECU1-3 are assigned to the MAC addresses of the electronic processing units ECU1-3 via a MAC address table. IP addresses of the electronic processing units ECU1-3 are in turn assigned to the MAC addresses via corresponding tables. IP addresses of the electronic processing units ECU1-3 are in turn assigned to the MAC addresses via the so-called host controller 4 as a control unit, e.g., in the form of a microcontroller, which in turn is in communication with the main control unit 1 and the switch 2, as shown in Fig. 1. 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 is possible to verify whether the electronic processing unit ECU1-3 is connected to the correct port P1-P3, i.e., whether its current configuration is correct.

[0025] 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.

[0026] 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.

[0027] Therefore, one objective of this invention is to provide the simplest possible verification, i.e., identification, of electronic processing units ECU1-3 connected to switch 2 via its ports P1-P3 (plugged into it and in communication). 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.

[0028] To accomplish this task, it is proposed to identify the electronic processing unit ECU1-3 connected to each port P1-P3 by means of a controlled deactivation of individual ports P1-P3 during startup (start-up, boot-up). This allows the electronic processing unit ECU1-3 to be identified and its respective configuration to be interrogated, i.e., to check each electronic processing unit ECU1-3. If this configuration matches the expected, i.e., predefined, configuration for the port P1-P3, i.e., if the IP address, MAC address, and port P1-P3 correspond to the specifications from Host Controller 4, no new configuration is performed.

[0029] If the configuration does not match the expected, i.e., predefined, configuration for port P1-P3, a new configuration (reconfiguration) is performed to provide the corresponding electronic processing unit ECU1-3 with the correct configuration. This is done by deactivating all but one of the P1-P3 ports on Switch 2. The electronic processing unit ECU1-3 connected to the remaining active P1-P3 port can now be configured, even if it has the same IP address as another of the ECU1-3 electronic processing units. After all P1-P3 ports have been activated individually once, the ECU1-3 electronic processing units have been identified, and their configurations have been checked and adjusted if necessary, all P1-P3 ports are activated and the start-up can be completed, allowing the system to enter the operating state.

[0030] In Fig. Figures 2 to 5 illustrate the proposed method using an example in which three ports P1-P3 are present, and the ports P1-P3 are active one after the other. However, the order is not relevant for the method, so that a different order than the one described can be used, as long as only one port P1-P3 is active at a time during the check. In the embodiment shown in the figures, switch 2 has only three ports P1-P3 to allow for a clear representation. 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.

[0031] In Fig. 2, the electronic processing unit (ECU) 1 is checked, i.e., identified, and its configuration determined. For this purpose, ports P2 and P3 are deactivated, leaving only port P1 active. The electronic processing unit connected to port P1, in this case ECU1, can now be checked and, if necessary, reconfigured with the configuration specified for port P1. After the electronic processing unit (ECU) 1 has been checked, the next electronic processing unit (ECU) 2 or ECU 3 is checked. This process continues until all electronic processing units (ECUs) 1-3 have been checked.

[0032] In Fig. 3, the electronic processing unit (ECU2) is checked. For this purpose, ports P1 and P3 are deactivated, leaving only port P2 active. The electronic processing unit connected to port P2, in this case ECU2, can now be checked and, if necessary, reconfigured with the configuration specified for port P2. Fig.4, the electronic processing unit (ECU) 3 is checked. For this purpose, ports P1 and P2 are deactivated, leaving only port P3 active. The electronic processing unit connected to port P3, in this case ECU3, can now be checked and, if necessary, reconfigured with the configuration specified for port P3.

[0033] During the entire check, it is not relevant whether the electronic processing unit ECU1-3 being checked has an incorrect IP address or an IP address identical to one of the other electronic processing units ECU1-3, since only a single port P1 or P2 or P3 is active and thus only communication with the connected electronic processing unit ECU1-3 is possible.

[0034] After all electronic processing units (ECUs) 1-3 have been checked accordingly, all ports P1-P3 are activated so that all electronic processing units (ECUs) 1-3 can communicate with the main control unit 1 via switch 2. In this state, the start-up process can continue and the vehicle can be operated.

[0035] The term "disabled" not only means that ports P1-P3 are moved from an active to an inactive state, but also that they are not activated when Switch 2 is started up. Currently, all ports P1-P3 must usually be activated first, so that the procedure always requires the deactivation of the ports P1-P3 that are not to be checked.

[0036] However, the invention is not limited to switches 2 with three ports P1-P3. Thus, more or fewer ports can also be present. Each port P1-P3 is assigned a predefined configuration of the associated electronic processing unit ECU1-3 to account for the positioning of the respective ECU1-3 on the vehicle. At least the IP address of the respective electronic processing unit ECU1-3 is stored as the configuration. Additionally, other relevant parameters, such as the mounting position of the sensor on the vehicle, can be stored.

[0037] For example, electronic processing units (ECUs) 1-3 are located at the front of the vehicle and are configured as radar sensors spaced apart from one another on the vehicle's bumper. Since each electronic processing unit (ECU) 1-3 has a slightly different viewing angle, it is necessary to configure them accordingly. Correct configuration is even more important if the individual, similar electronic processing units (ECUs) 1-3 are located in different areas of the vehicle, e.g., if one is located at the front and one at the rear of the vehicle.

[0038] The proposed method enables automatic, serial, port-based verification, i.e., identification, of the electronic processing units (ECUs) 1-3, as well as individual configuration of each ECU 1-3. This can be done regardless of whether multiple ECUs 1-3 have the same IP address.

[0039] 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.

[0040] Electronic processing units (ECUs) 1-3 can be any intelligent sensor with the associated computing power. In particular, the sensors are suitable for providing environmental detection, e.g., radar sensors, cameras, lidar sensors, and for at least partially processing the acquired data. The method serves to distinguish between similar electronic processing units (ECUs) 1-3 that have the same configuration and to provide them with the configuration associated with the port P1-P3 to which they are connected. The method is particularly suitable when a large number of similar intelligent sensors are installed on the vehicle, and is therefore particularly suitable for highly automated and even autonomous driving.

[0041] The method can be implemented by an algorithm as a computer program with corresponding program code that 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.

[0042] The computer program can be executed on one or more electronic control devices, in particular the main control unit 1.

[0043] 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 main control unit 2 Switch 3 MAC address table 4 Host Controller ECU1-3 electronic processing unit 1-3 P1-P3 Ports 1-3

Claims

[1] Method for port-based checking of the configuration of 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 - for each port (P1-P3) a configuration of the electronic processing unit (ECU1-3) to be connected is specified, comprising at least a specified IP address, and - when the electronic processing units (ECU1-3) are started up, they 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, whereby the configuration check is carried out by - all ports (P1-P3) except for one port (P1-P3) of the switch (2) are deactivated one after the other until each port (P1-P3) has been active once, and the electronic processing unit (ECU1-3) connected to the active port (P1-P3) is checked, whereby in the event that the current configuration of the electronic processing unit (ECU1-3) connected to the active port (P1-P3) does not match the configuration specified for the port (P1-P3), the electronic processing unit (ECU1-3) is reconfigured, and - after all electronic processing units (ECU1-3) have been checked, all ports (P1-P3) are activated and the boot process continues. [2] Method according to claim 1, wherein the configuration of each port (P1-P3) further comprises 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) on the vehicle. [3] Method according to claim 1 or 2, wherein the electronic processing units (ECU1-3) are formed as intelligent sensors, comprising radar sensors, cameras, lidar sensors, with associated processing unit. [4] Method according to one of the preceding claims, wherein the switch (2) is an Ethernet switch. [5] Method according to one of the preceding claims, wherein the ports (P1-P3) of the switch (2) are assigned to the MAC addresses of the electronic processing units (ECU1-3) via a MAC address table (3), and the IP addresses of the electronic processing units (ECU1-3) are assigned to the MAC addresses via a host controller (4). [6] Computer program which is designed to carry out individual or all steps of the method according to one of claims 1 to 5 by means of program code on a control unit which is part of an electronic control device (1). [7] A machine-readable storage medium on which the computer program according to claim 6 is stored. [8] Electronic control device (1) which is arranged to carry out the method implemented as a computer program according to claim 6. [9] 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 8, with which the switch (2) is in communication connection.

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