Vehicle control system, electronic control device, communication management method, and communication management program

Abstract

To reduce a time required for changing a construction of a communication group.SOLUTION: A vehicle control system 1 comprises a plurality of ECUs 3 and 4. At least some of the plurality of ECUs 3 and 4 is belonged to at least one of a plurality of partial networks (hereinbelow, referred as a PN). Each of the plurality of ECUs 3 and 4 stores group specification information obtained by corresponding a belonging PN_ID indicating the PN (hereinbelow, referred as a belonging PN) to which each of the ECUs 3 and 4 is belonged with a belonging ECU_ID indicating all of the ECUs 3 and 4 belonging to the belonging PN. Each of the ECUs 3 and 4 transmits a participation request for requesting an update of the group specification information to the other one of the ECUs 3 and 4 via an in-vehicle communication network 6. Each of the ECUs 3 and 4 updates the group specification information on the basis of the participation request when receiving the participation request.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control system, an electronic control device, a communication management method, and a communication management program installed in a vehicle. [Background technology]

[0002] Patent Document 1 describes a communication system that is mounted on a moving object such as a vehicle and has multiple communication nodes. In this type of communication system, a technology called partial network is known that reduces power consumption of the entire system by putting some electronic control devices that are not necessary for control into a sleep state in which their functions are stopped depending on the situation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-177365 A Summary of the Invention [Problem to be solved by the invention]

[0004] As a result of detailed investigations by the inventors, the following problems were found. When adding an electronic control unit to a partial network or reconstructing a partial network to update an in-vehicle function, it is necessary to rewrite the programs in all related electronic control units. However, in order to rewrite the program in an electronic control unit, it is necessary to transmit a new program to the electronic control unit, which increases the communication load and increases the time required to rewrite the program. In other words, it takes a long time to change the configuration of the partial network.

[0005] The present disclosure aims to reduce the time required to change the configuration of a communication group. [Means for solving the problem]

[0006] One aspect of the present disclosure is a vehicle control system (1) that is mounted on a vehicle and includes a plurality of electronic control devices (3, 4) that are connected to an in-vehicle network (6). At least some of the plurality of electronic control devices belong to at least one of the plurality of communication groups.

[0007] The vehicle control system is configured to be able to switch, individually for each communication group, one or more electronic control devices belonging to the communication group collectively between a wakeup state and a sleep state.

[0008] Each of the multiple electronic control devices stores group identification information that corresponds belonging group information indicating the belonging communication group to which the electronic control device belongs, and belonging device information indicating all electronic control devices belonging to the belonging communication group.

[0009] A first electronic control unit among the plurality of electronic control units is configured to transmit a participation request, which requests an update of the group identification information, to the other electronic control units via the in-vehicle network. The second electronic control unit of the plurality of electronic control units includes an update unit (S30, S80). The update unit is configured to update the group identification information based on the join request when the join request is received via the in-vehicle network.

[0010] The vehicle control system of the present disclosure configured in this manner can change the configuration of the communication group by updating the group identification information based on the information included in the join request. Therefore, the vehicle control system of the present disclosure does not need to rewrite the program of the electronic control unit to change the configuration of the communication group. As a result, the vehicle control system of the present disclosure can reduce the time required to change the configuration of the communication group.

[0011] Another aspect of the present disclosure is an electronic control device for a vehicle control system (1) including a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6). The electronic control device of the present disclosure includes an update unit (S30, S80).

[0012] The electronic control device of the present disclosure configured in this manner is a device provided in the vehicle control system of the present disclosure, and can obtain the same effects as the vehicle control system of the present disclosure. Yet another aspect of the present disclosure is a communication management method executed in a vehicle control system (1) equipped with a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6). A first electronic control device among the plurality of electronic control devices transmits a join request requesting an update of group identification information to the other electronic control devices via the in-vehicle network. When a second electronic control device among the plurality of electronic control devices receives the join request via the in-vehicle network, it updates the group identification information based on the join request.

[0013] The communication management method of the present disclosure is a method executed in the vehicle control system of the present disclosure, and by executing this method, it is possible to obtain the same effects as the vehicle control system of the present disclosure. Yet another aspect of the present disclosure is a communication management program executed in an electronic control device of a vehicle control system (1) having a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6), the communication management program causing a computer of the electronic control device to function as an update unit (S30, S80).

[0014] A computer controlled by the communication management program of the present disclosure can constitute part of the vehicle control system of the present disclosure, and can obtain the same effects as the vehicle control system of the present disclosure. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram showing a configuration of a vehicle control system. [Diagram 2]FIG. 2 is a block diagram showing ECUs belonging to first and second partial networks. [Diagram 3] FIG. 11 is a sequence diagram showing a procedure for adding an ECU to a partial network. [Figure 4] 11A and 11B are diagrams illustrating configurations of a local device participation request and a participation response. [Diagram 5] FIG. 11 is a sequence diagram showing a procedure for adding or deleting an ECU to or from a partial network. [Figure 6] FIG. 13 is a diagram showing a configuration of a other device participation request. [Figure 7] FIG. 11 is a sequence diagram showing a procedure for deleting a partial network. [Figure 8] FIG. 13 is a diagram showing the configuration of a deletion request. [Figure 9] 13 is a flowchart showing an update process. [Figure 10] 13 is a flowchart showing a host device participation request process. [Figure 11] 13 is a flowchart showing another device participation request process. [Figure 12] 13 is a flowchart showing a program rewriting process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. A vehicle control system 1 of this embodiment is mounted on a vehicle, and has a function of performing data communication with a server 100 via a wide area wireless communication network NW, as shown in FIG.

[0017] A vehicle equipped with the vehicle control system 1 may have an automatic driving function in addition to a manual driving function. The vehicle may be a hybrid vehicle having an engine and an electric motor as a driving source. The vehicle is not limited to a vehicle having an automatic driving function and a hybrid vehicle, but may be a vehicle equipped with only a manual driving function, or a vehicle having only an engine or only an electric motor as a driving source. In the following, a vehicle equipped with the vehicle control system 1 is simply referred to as a vehicle.

[0018] The vehicle control system 1 includes one ECU 2, a plurality of ECUs 3, a plurality of ECUs 4, an exterior communication device 5, an interior communication network 6, and a connector 7. ECU is an abbreviation for Electronic Control Unit.

[0019] The ECU 2 controls a plurality of ECUs 3 to realize coordinated control of the entire vehicle. An ECU 3 is provided for each domain that is divided according to the vehicle's functions, and mainly controls a plurality of ECUs 4 that exist within that domain. Each ECU 3 is connected to its subordinate ECU 4 via a lower-layer network (CAN in this embodiment) that is provided individually for each ECU 3. CAN is an abbreviation for Controller Area Network. CAN is a registered trademark. The domains are, for example, the power train, the body, the chassis, and the cockpit.

[0020] The ECUs 4 connected to the ECU 3 belonging to the powertrain domain include, for example, an ECU 4 that controls an engine, an ECU 4 that controls a motor, and an ECU 4 that controls a battery.

[0021] The ECUs 4 connected to the ECU 3 belonging to the body domain include, for example, an ECU 4 that controls an air conditioner, an ECU 4 that controls doors, and the like. The ECUs 4 connected to the ECU 3 belonging to the chassis domain include, for example, an ECU 4 that controls braking, an ECU 4 that controls steering, and the like.

[0022] The ECUs 4 connected to the ECUs 3 belonging to the cockpit domain include, for example, an ECU 4 that controls the display of meters and navigation, and an ECU 4 that controls an input device operated by a vehicle occupant.

[0023] The external vehicle communication device 5 performs data communication with the server 100 via the wide area wireless communication network NW. The in-vehicle communication network 6 includes CAN FD and Ethernet. Ethernet is a registered trademark. CAN FD is an abbreviation for CAN with Flexible Data Rate. CAN FD connects the ECU 2 to each ECU 3 and the external-vehicle communication device 5 via a bus. Ethernet connects the ECU 2 to each ECU 3 and the external-vehicle communication device 5 individually.

[0024] The connector 7 is an electronic component for connecting the external device 200 to the vehicle control system 1, and is connected to the in-vehicle communication network 6. The external device 200 is a device for diagnosing the vehicle state and rewriting (i.e., reprogramming) the programs stored in the ECUs 2, 3, and 4 by communicating with the ECUs 2, 3, and 4.

[0025] The ECU2 is an electronic control device mainly composed of a microcomputer including a CPU21, a ROM22, a RAM23, etc. Various functions of the microcomputer are realized by the CPU21 executing a program stored in a non-transient real recording medium. In this example, the ROM22 corresponds to the non-transient real recording medium storing the program. Furthermore, the execution of this program executes a method corresponding to the program. Note that some or all of the functions executed by the CPU21 may be configured in hardware form using one or more ICs, etc. Also, the number of microcomputers constituting the ECU2 may be one or more. The ECU2 further includes a flash ROM24. The flash ROM24 is a non-volatile memory whose stored contents can be rewritten.

[0026] The ECU 3 is an electronic control device mainly composed of a microcomputer including a CPU 31, a ROM 32, a RAM 33, etc. Various functions of the microcomputer are realized by the CPU 31 executing a program stored in a non-transient real recording medium. In this example, the ROM 32 corresponds to the non-transient real recording medium storing the program. Furthermore, the execution of this program executes a method corresponding to the program. Note that some or all of the functions executed by the CPU 31 may be configured in hardware form using one or more ICs, etc. Also, the number of microcomputers constituting the ECU 3 may be one or more. The ECU 3 further includes a flash ROM 34. The flash ROM 34 is a non-volatile memory whose stored contents can be rewritten.

[0027] The ECU 4 is an electronic control device mainly composed of a microcomputer including a CPU 41, a ROM 42, a RAM 43, etc. Various functions of the microcomputer are realized by the CPU 41 executing a program stored in a non-transient real recording medium. In this example, the ROM 42 corresponds to the non-transient real recording medium storing the program. Furthermore, the execution of this program executes a method corresponding to the program. Note that some or all of the functions executed by the CPU 41 may be configured in hardware form using one or more ICs, etc. Also, the number of microcomputers constituting the ECU 4 may be one or more. The ECU 4 further includes a flash ROM 44. The flash ROM 44 is a non-volatile memory whose stored contents can be rewritten.

[0028] The server 100 transmits new programs to the ECUs 2, 3, and 4, thereby rewriting the programs stored in the ECUs 2, 3, and 4. The vehicle control system 1 forms a partial network, which is a power supply control method based on communication control of the CAN protocol standard specified in ISO11898-6. For this reason, the vehicle control system 1 achieves low power consumption by transitioning one or more ECUs 3, 4 constituting the partial network to a wake-up state (i.e., an activated state) or a sleep state (i.e., a dormant state) for each partial network individually. By transitioning to the wake-up state, the ECUs 3, 4 enter a normal operating state in which functions assigned to the ECUs 3, 4 can be used without restrictions, and by transitioning to the sleep state, they enter a low-power operating state in which available functions are restricted.

[0029] In this embodiment, the ECUs 3 and 4 that belong to the same domain belong to the same partial network. 2, one ECU 3 belonging to the first partial network PN1 is denoted as ECU3a, one ECU 4 belonging to the first partial network PN1 is denoted as ECU4a, one ECU 3 belonging to the second partial network PN2 is denoted as ECU3b, and one ECU 4 belonging to the second partial network PN2 is denoted as ECU4b.

[0030] Therefore, ECU 3a is the representative device of the first partial network PN1, and ECU 3b is the representative device of the second partial network PN2. The first partial network PN1 is composed of the ECUs 3 and 4 which belong to the power train domain, for example, and the second partial network PN2 is composed of the ECUs 3 and 4 which belong to the body domain, for example.

[0031] The ECUs 3 and 4 each store partial network information (hereinafter, PN information) of the partial network to which the ECU belongs in the flash ROMs 34 and 44. The PN information includes an associated partial network ID (hereinafter, associated PN_ID) and an associated device ID (hereinafter, associated ECU_ID).

[0032] The ECUs 3a and 4a belonging to the first partial network PN1 store PN_1 as the assigned PN_ID and store ECU_1 and ECU_3 as the assigned ECU_IDs. PN1 is the PN_ID indicating the first partial network PN1. ECU_1 is the ECU_ID indicating the ECU 3a. ECU_3 is the ECU_ID indicating the ECU 4a.

[0033] The ECUs 3b and 4b belonging to the second partial network PN2 store PN_2 as the assigned PN_ID and store ECU_2 and ECU_4 as the assigned ECU_IDs. PN_2 is the PN_ID indicating the second partial network PN2. ECU_2 is the ECU_ID indicating ECU 3b. ECU_4 is the ECU_ID indicating ECU 4b.

[0034] Therefore, the ECU3b and 4b can add the ECU4c to the second partial network PN2 by storing ECU_2, ECU_4, and ECU_5 as the ECU_IDs to which the ECU3b and 4b belong. ECU_5 is an ECU_ID that indicates the ECU3b. The ECU4c can add the ECU4c to the second partial network PN2 by storing PN_2 as the PN_ID to which the ECU4c belongs and ECU_2, ECU_4, and ECU_5 as the ECU_IDs to which the ECU4c belongs.

[0035] As shown in FIG. 3, a procedure for adding the ECU 4c to the second partial network PN2 will be described. As shown in process P1, the ECU 4c checks the participation state of the partial network in the vehicle control system 1. Specifically, the ECU 4c acquires the belonging PN_ID from the ECUs 2, 3, and 4 constituting the vehicle control system 1. As a result, the ECU 4c identifies the partial network to which each of the ECUs 2, 3, and 4 belongs.

[0036] As shown by processes P2 and P3, the ECU 4c transmits a participation request to the ECUs 3b and 4b which belong to the second partial network PN2. The participation request includes an arbitration field and a data field, as shown in CAN frame F1 in FIG.

[0037] The arbitration field stores a CANID. The CANID is set in advance based on the contents of the data included in the CAN frame, the source of the CAN frame, the destination of the CAN frame, etc. In this embodiment, "111" is set as the CANID of a participation request for requesting participation of the own device (hereinafter, the own device participation request).

[0038] The data field stores a command type, a participation request PN_ID, and a participation request ECU_ID. In the host device participation request transmitted in processes P2 and P3, data indicating a "participation request" is stored as the command type, PN_2 is stored as the participation request PN_ID, and ECU_5 is stored as the participation request ECU_ID. The data field further stores information indicating the sender of the CAN frame.

[0039] 3, the ECUs 3b and 4b update their assigned ECU_IDs in response to the request from the ECU 4c to join the ECU 3b and 4b. Specifically, the ECUs 3b and 4b store ECU_2, ECU_4, and ECU_5 in the flash ROMs 34 and 44 as their assigned ECU_IDs.

[0040] As shown in process P6, the ECU 3b, as the representative device, transmits a participation response to the ECU 4c. The participation response includes an arbitration field and a data field, as shown in CAN frame F2 in Fig. 4. The arbitration field stores a CANID. In this embodiment, the CANID of the participation response is set to "111", which is the same as the participation request of the own device. The data field stores a command type, a participation request PN_ID, and a participation request ECU_ID. In the participation response transmitted in process P6, data indicating the "participation response" is stored as the command type, PN_2 is stored as the participation request PN_ID, and ECU_2 and ECU_4 are stored as the participation request ECU_ID.

[0041] 3, the ECU 4c updates the assigned ECU_ID in response to the participation response from the ECU 3b. Specifically, the ECU 4c stores ECU_2, ECU_4, and ECU_5 in the flash ROM 44 as the assigned ECU_ID.

[0042] Next, as shown in FIG. 5, a procedure for adding the ECU 4c to the first partial network PN1 and deleting the ECU 4a from the first partial network PN1 after reprogramming the ECU 3a will be described.

[0043] As shown in process P11, the ECU 3a transmits a participation request to the ECU 4a belonging to the first partial network PN1. The participation request includes an arbitration field and a data field, as shown in CAN frame F3 in FIG.

[0044] The arbitration field stores a CANID. In this embodiment, "222" is set as the CANID of a participation request for requesting the participation of other devices (hereinafter, other device participation request).

[0045] The data field stores a command type, a participation request PN_ID, and a participation request ECU_ID. In the participation request transmitted in process P11, data indicating a "participation request" is stored as the command type, PN_1 is stored as the participation request PN_ID, and ECU_5 is stored as the participation request ECU_ID. The data field further stores information indicating the sender of the CAN frame.

[0046] As shown in process P12 in Fig. 5, the ECU4a updates the assigned ECU_ID in response to the other device participation request from the ECU3a. Specifically, the ECU4a stores ECU_1 and ECU_5 as the assigned ECU_ID in the flash ROM 44. That is, the ECU4a deletes ECU_3 from the assigned ECU_ID. As a result, the ECU4a is excluded from the first partial network PN1.

[0047] As shown in process P13, the ECU 3a transmits to the ECU 4c a different device participation request that is the same as the different device participation request transmitted in process P11. As shown in process P14, the ECU 4c updates the assigned PN_ID and the assigned ECU_ID in response to the other device participation request from the ECU 3a. Specifically, the ECU 4c stores in the flash ROM 44 PN_1 as the assigned PN_ID and ECU_1 and ECU_5 as the assigned ECU_IDs.

[0048] Next, a procedure for deleting the first partial network PN1 will be described as shown in FIG. As shown in processes P21, P22, and P23, the external device 200 transmits a deletion request to the ECUs 3a, 4a, and 4c that belong to the first partial network PN1.

[0049] The delete request includes an arbitration field and a data field, as shown in CAN frame F4 in FIG. The arbitration field stores a CANID. In this embodiment, "7xx" is set as the CANID of the deletion request.

[0050] In the data field, a command type, a deletion request PN_ID, and a deletion request ECU_ID are stored. In the deletion requests transmitted in processes P21, P22, and P23, data indicating a "deletion request" is stored as the command type, PN_1 is stored as the deletion request PN_ID, and ECU_1, ECU_3, and ECU_5 are stored as the deletion request ECU_IDs.

[0051] 7, the ECUs 3a, 4a, and 4c update the assigned ECU_IDs in response to the deletion request from the external device 200. Specifically, the ECUs 3a, 4a, and 4c delete the ECU_1, ECU_3, and ECU_5 stored as the assigned ECU_IDs, respectively.

[0052] Next, there will be described the procedure of the update process executed by the ECUs 3 and 4. The update process is a process that is repeatedly executed while the ECUs 3 and 4 are in operation. When the update process is executed, the CPU 31, 41 of the ECU 3, 4 determines whether or not a host device participation request has been received in S10 as shown in Fig. 9. Specifically, the CPU 31, 41 determines that a host device participation request has been received when the CAN ID of the received CAN frame is "111" and data indicating a "participation request" is stored as a command type in the data field of the received CAN frame.

[0053] Here, if the own device participation request has not been received, the CPU 31, 41 proceeds to S60. On the other hand, if the own device participation request has been received, the CPU 31, 41 determines in S20 whether the own device participation request is directed to the partial network to which the own device belongs. Specifically, if the participation request PN_ID included in the own device participation request indicates the partial network to which the own device belongs, the CPU 31, 41 determines that the own device participation request is directed to the partial network to which the own device belongs.

[0054] Here, if the request is not for the own device to join the partial network to which the own device belongs, the CPU 31, 41 proceeds to S60. On the other hand, if the request is for the own device to join the partial network to which the own device belongs, the CPU 31, 41 updates the belonging ECU_ID of the own device in S30. Specifically, the CPU 31, 41 adds the joining request ECU_ID included in the own device to join the partial network to which the own device belongs, to the belonging ECU_ID stored in the flash ROM 34, 44.

[0055] In S40, the CPU 31, 41 judges whether the own device is the representative device. Specifically, the CPU 31, 41 judges that the own device is the representative device when the own device is ECU 3 and not ECU 4. Here, if the own device is not the representative device, the CPU 31, 41 proceeds to S60. On the other hand, if the own device is the representative device, the CPU 31, 41 transmits a participation response to the sender of the own device participation request in S50, and proceeds to S60.

[0056] When the process proceeds to S60, the CPU 31, 41 judges whether or not a request to join another device has been received. Specifically, the CPU 31, 41 judges that a request to join another device has been received if the CAN ID of the received CAN frame is "222" and data indicating a "request to join" is stored as the command type in the data field of the received CAN frame.

[0057] Here, if the other device participation request has not been received, the CPU 31, 41 proceeds to S90. On the other hand, if the other device participation request has been received, the CPU 31, 41 determines in S70 whether the other device participation request is directed to the own device or the partial network to which the own device belongs. Specifically, if the participation request ECU_ID included in the other device participation request indicates the own device, the CPU 31, 41 determines that the other device participation request is directed to the own device. Also, if the participation request PN_ID included in the other device participation request indicates the partial network to which the own device belongs, the CPU 31, 41 determines that the other device participation request is directed to the partial network to which the own device belongs.

[0058] If the request is not for the own device or the partial network to which the own device belongs, the CPU 31, 41 proceeds to S90. On the other hand, if the request is for the own device or the partial network to which the own device belongs, the CPU 31, 41 updates the assigned PN_ID and assigned ECU_ID of the own device in S80.

[0059] Specifically, if the other device participation request is directed to the own device, the CPU 31, 41 stores the participation request PN_ID included in the other device participation request as the belonging PN_ID of the own device in the flash ROM 34, 44. Furthermore, the CPU 31, 41 stores the participation request ECU_ID included in the other device participation request and the ECU_ID indicating the sender of the other device participation request as the belonging ECU_ID of the own device in the flash ROM 34, 44. Note that the belonging PN_ID and the belonging ECU_ID updated based on the other device participation request are associated with each other.

[0060] In addition, if the request for other device participation is directed to the partial network to which the own device belongs, the participation request ECU_ID included in the request for other device participation and the ECU_ID indicating the sender of the request for other device participation are stored in flash ROMs 34, 44 as the ECU_ID of the partial network that matches the participation request PN_ID included in the request for other device participation.

[0061] When the process proceeds to S90, the CPU 31, 41 determines whether or not a delete request has been received. Specifically, the CPU 31, 41 determines that a delete request has been received when the CAN ID of the received CAN frame is "7xx" and data indicating a "delete request" is stored as the command type in the data field of the received CAN frame.

[0062] Here, if the deletion request has not been received, the CPU 31, 41 ends the update process. On the other hand, if the deletion request has been received, the CPU 31, 41 determines in S100 whether the deletion request is directed to the own device. Specifically, if the deletion request ECU_ID included in the deletion request indicates the own device, the CPU 31, 41 determines that the deletion request is directed to the own device.

[0063] Here, if the deletion request is not directed to the own device, the CPU 31, 41 ends the update process. On the other hand, if the deletion request is directed to the own device, the CPU 31, 41 updates the belonging ECU_ID of the own device in S110 and ends the update process. Specifically, the CPU 31, 41 deletes the ECU_ID of the own device from the belonging ECU_ID of the partial network that matches the deletion request PN_ID included in the deletion request.

[0064] Next, a procedure of a host device participation request process executed by the ECUs 3 and 4 will be described. The host device participation request process is a process that is executed when the host device needs to participate in a partial network as a result of the program of the host device being rewritten.

[0065] When the own device participation request process is executed, the CPUs 31 and 41 of the ECUs 3 and 4 check the participation state of the partial network in the vehicle control system 1 in S210 as shown in Fig. 10. Specifically, the CPUs 31 and 41 acquire the associated PN_ID from the ECUs 2, 3, and 4 constituting the vehicle control system 1.

[0066] In step S220, the CPU 31, 41 creates a participation request for the own device including a participation request PN_ID indicating the partial network in which the own device is to participate and a participation request ECU_ID indicating the own device.

[0067] In step S230, the CPU 31, 41 transmits the own device participation request created in step S220 to the ECUs 3, 4 that belong to the partial network in which the own device is to participate. The CPU 31, 41 determines whether or not a join response has been received in S240. If a join response has not been received, the process of S240 is repeated to wait until a join response is received.

[0068] Then, when the participation response is received, the CPU 31, 41 updates the assigned PN_ID and assigned ECU_ID stored in the own device based on the participation response received in S240 at S250, and ends the own device participation request process.

[0069] Next, there will be described the procedure of another device participation request process executed by the ECUs 3 and 4. The other device participation request process is a process that is executed when it becomes necessary to update the partial network as a result of the program of the own device being rewritten.

[0070] When the other device participation request processing is executed, the CPUs 31 and 41 of the ECUs 3 and 4 create a other device participation request at S310, as shown in FIG. 11, which includes a participation request PN_ID indicating the partial network in which the ECU will participate and a participation request ECU_ID indicating a device other than the ECU that belongs to the partial network.

[0071] In S320, the CPUs 31 and 41 transmit the other device participation request created in S310 to the ECUs 3 and 4 that belong to the partial network in which the own device is participating and to the ECUs 3 and 4 that are newly added to the partial network, and then terminate the other device participation request process.

[0072] Next, the procedure of the program rewriting process executed by the ECUs 3 and 4 will be described. The program rewriting process is executed when it becomes necessary to form a partial network for program rewriting. The program rewriting process is executed by one of the ECUs 3 and 4 constituting the vehicle control system 1, that is, the ECU 3 or the ECU 4. The following describes how the ECU 3 executes the program rewriting process.

[0073] When the program rewrite process is executed, the CPU 31 of ECU 3 creates, at S410, as shown in Figure 12, a participation request for other devices that includes a participation request PN_ID indicating the newly formed partial network and a participation request ECU_ID indicating a device other than the own device that belongs to the new partial network.

[0074] In step S420, the CPU 31 transmits the other device participation request created in step S410 to the ECUs 3 and 4 that belong to the new partial network other than the own device. For example, suppose that ECU3a and ECU4a belong to a first partial network PN1, and ECU3b, ECU4b, and ECU4c belong to a second partial network PN2. Then, suppose that ECU3a forms a new third partial network PN3 including ECU3a, ECU3b, and ECU4c. In this case, PN_3 is set as the participation request PN_ID of the other device participation request, and ECU_2 and ECU_5 are set as the participation request ECU_ID of the other device participation request.

[0075] At S430, the CPU 31 instructs the ECUs 3 and 4 belonging to the new partial network to start rewriting their programs, whereby the ECUs 3 and 4 belonging to the new partial network start rewriting their programs.

[0076] In S440, the CPU 31 determines whether or not program rewriting has been completed in all of the ECUs 3 and 4 belonging to the new partial network. If program rewriting has not been completed in all of the ECUs 3 and 4 belonging to the new partial network, the CPU 31 repeats the process of S440 and waits until program rewriting has been completed in all of the ECUs 3 and 4 belonging to the new partial network.

[0077] Then, when program rewriting is completed for all ECUs 3 and 4 belonging to the new partial network, the CPU 31 creates a deletion request at S450, which includes a deletion request PN_ID indicating the newly formed partial network and a deletion request ECU_ID indicating a device other than the CPU 31 that belongs to the new partial network.

[0078] In step S460, the CPU 31 transmits the deletion request created in step S450 to the ECUs 3 and 4 that belong to the new partial network other than the own device, and ends the program rewriting process. The vehicle control system 1 configured in this manner includes a plurality of ECUs 3 and 4 connected to an in-vehicle communication network 6 .

[0079] At least some of the multiple ECUs 3 and 4 belong to at least one of the multiple partial networks. The vehicle control system 1 is configured to be able to collectively switch, for each partial network, one or more ECUs 3, 4 belonging to the partial network between a wakeup state and a sleep state.

[0080] Each of the multiple ECUs 3, 4 stores group identification information that associates an associated PN_ID indicating the partial network to which the ECU 3, 4 belongs (hereinafter referred to as the associated partial network) with associated ECU_IDs indicating all ECUs 3, 4 belonging to the associated partial network.

[0081] At least one ECU 3, 4 (hereinafter, a first ECU) of the multiple ECUs 3, 4 is configured to transmit a participation request requesting an update of group identification information to the other ECUs 3, 4 via the in-vehicle communication network 6. The participation request includes a participation request PN_ID indicating the partial network to join, and a participation request ECU_ID indicating the ECU 3, 4 to join.

[0082] Among the plurality of ECUs 3, 4, the ECU 3, 4 different from the first ECU (hereinafter, referred to as a second ECU) is configured to, upon receiving the participation request via the in-vehicle communication network 6, update the group identification information based on the participation request.

[0083] Such a vehicle control system 1 can change the configuration of the partial network by updating the group identification information based on the information included in the participation request. Therefore, the vehicle control system 1 does not need to rewrite the programs of the ECUs 3 and 4 to change the configuration of the partial network. This allows the vehicle control system 1 to reduce the time required to change the configuration of the partial network.

[0084] The ECUs 3 and 4 are further configured to transmit a participation request with the participation request ECU_ID indicating the ECU 3 or 4 itself as the participation request ECU_ID when participating in the partial network. This allows the vehicle control system 1 to change the configuration of the partial network by causing the ECUs 3 and 4 to be added to the partial network to transmit the participation request.

[0085] The ECUs 3 and 4 are configured to update the belonging ECU_ID by adding the participation request ECU_ID included in the participation request to the belonging ECU_ID. The ECU 3 is further configured to transmit a participation response including the belonging ECU_ID to the ECUs 3 and 4 that are the transmission sources of the participation request when the ECU 3 updates the belonging ECU_ID based on the participation request. In this way, the vehicle control system 1 can make the ECUs 3 and 4 that are the transmission sources of the participation request recognize that the participation request has been permitted.

[0086] The ECUs 3 and 4 are further configured to transmit a participation request in which, when an ECU 3 or 4 that will participate in the partial network is added, the participation request PN_ID indicating the partial network to which the ECU 3 or 4 belongs is set as the participation request PN_ID, and the ECU_ID indicating the ECU 3 or 4 to be added is set as the participation request ECU_ID.

[0087] When the participation request ECU_ID included in the participation request indicates the own device, the ECUs 3 and 4 are configured to set the participation request PN_ID of the participation request as the belonging PN_ID of the own device, and further to store the ECU_ID included in the participation request ECU_ID of the participation request and the ECU_ID indicating the ECU 3 or 4 that is the sender of the participation request as the belonging ECU_ID.

[0088] Thus, the vehicle control system 1 can change the configuration of the partial network by causing the ECUs 3 and 4 to transmit participation requests that specify the ECUs 3 and 4 to be added to the partial network.

[0089] When the ECUs 3 and 4 further receive a deletion request including a deletion request PN_ID indicating the partial network to be deleted and a deletion request ECU_ID indicating the ECUs 3 and 4 to be deleted via the in-vehicle communication network 6, the ECUs 3 and 4 determine whether the belonging PN_ID stored in the ECUs 3 and 4 matches the deletion request PN_ID of the deletion request. If the belonging PN_ID matches the deletion request PN_ID, the ECUs 3 and 4 delete the ECU_ID indicating the own device from the belonging ECU_ID of the belonging PN_ID corresponding to the deletion request PN_ID, thereby updating the belonging ECU_ID. This allows the vehicle control system 1 to delete the partial network by having the ECUs 3 and 4 transmit the deletion request.

[0090] The ECUs 3 and 4 are further configured to transmit a participation request in which a new PN_ID indicating a new partial network (hereinafter, a new partial network) different from the multiple partial networks already formed in the vehicle control system 1 is set as a participation request PN_ID, and information indicating the ECUs 3 and 4 belonging to the new partial network is set as a participation request ECU_ID. The ECUs 3 and 4 are then configured to transmit a new deletion request in which the new PN_ID is set as a deletion request PN_ID indicating the partial network to be deleted. This enables the vehicle control system 1 to put the ECUs 3 and 4 belonging to the new partial network into a wake-up state and the ECUs 3 and 4 not belonging to the new partial network into a sleep state, thereby rewriting the programs of the ECUs 3 and 4 belonging to the new partial network.

[0091] In the embodiment described above, the ECUs 3 and 4 correspond to electronic control units, the in-vehicle communication network 6 corresponds to an in-vehicle network, the partial network corresponds to a communication group, and the affiliated partial network corresponds to an affiliated communication group.

[0092] Further, the belonging PN_ID corresponds to belonging group information, the belonging ECU_ID corresponds to belonging device information, the first ECU corresponds to the first electronic control device, the second ECU corresponds to the second electronic control device, and S30 and S80 correspond to processing as an update unit.

[0093] Moreover, the participation request PN_ID corresponds to participation request group information, and the participation request ECU_ID corresponds to participation request device information. Moreover, S220 and S230 correspond to processing performed by a host device participation request unit, S50 corresponds to processing performed by a participation response unit, S310 and S320 correspond to processing performed by a other device participation request unit, and the participation request ECU_ID of the other device participation request corresponds to added device information.

[0094] Moreover, the deletion request PN_ID corresponds to deletion request group information, and the deletion request ECU_ID corresponds to deletion request device information. In addition, the new partial network corresponds to a new communication group, the join request PN_ID of the other device join request created in S410 corresponds to new group information, S410 and S420 correspond to processing as a new request section, and S450 and S460 correspond to processing as a new deletion section.

[0095] Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiment and can be implemented in various modified forms. [Variation 1] In the above embodiment, one assigned PN_ID is stored for each of the multiple ECUs 3 and 4. However, multiple assigned PN_IDs may be stored for each of the multiple ECUs 3 and 4. In this case, ECU_IDs indicating all of the ECUs 3 and 4 belonging to the partial network are associated with each of the multiple assigned PN_IDs.

[0096] [Variation 2] In the above embodiment, the participation request ECU_ID of the other device participation request is the ECU_ID of the ECUs 3 and 4 to be added. However, the participation request ECU_ID of the other device participation request may include the ECU_ID of the transmission source.

[0097] [Variation 3] In the above embodiment, the ECU 3 set as the representative device transmits the participation response, but the ECU 4 may also transmit a participation response.

[0098] The ECU 3, 4 and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the ECU 3, 4 and the method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the ECU 3, 4 and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer. The method for realizing the functions of each unit included in the ECU 3, 4 does not necessarily need to include software, and all of the functions may be realized using one or more hardware.

[0099] In the above embodiments, multiple functions of one component may be realized by multiple components, or one function of one component may be realized by multiple components. Also, multiple functions of multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Also, part of the configuration of the above embodiments may be omitted. Also, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments.

[0100] In addition to the above-mentioned ECUs 3 and 4, the present disclosure can also be realized in various forms, such as a system including the ECUs 3 and 4 as components, a program for causing a computer to function as the ECUs 3 and 4, a non-transient physical recording medium such as a semiconductor memory on which this program is recorded, and a communication management method. [Explanation of symbols]

[0101] 1...vehicle control system, 3, 4...ECU, 6...in-vehicle communication network

Claims

1. A vehicle control system (1) including a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6), At least some of the plurality of electronic control devices belong to at least one of a plurality of communication groups; the vehicle control system is configured to be able to switch one or more of the electronic control devices belonging to each communication group between a wakeup state and a sleep state collectively, for each communication group; Each of the electronic control devices stores group identification information that associates group information indicating a communication group to which the electronic control device belongs with device information indicating all of the electronic control devices that belong to the communication group; a first electronic control unit among the plurality of electronic control units is configured to transmit a participation request for requesting an update of the group identification information to the other electronic control units via the in-vehicle network; A second electronic control unit among the plurality of electronic control units is A vehicle control system comprising an update unit (S30, S80) configured to update the group identification information based on the join request when the join request is received via the in-vehicle network.

2. 2. The vehicle control system according to claim 1, The participation request includes participation request group information indicating the communication group to be joined, and participation request device information indicating the electronic control device to be joined.

3. 3. The vehicle control system according to claim 2, The electronic control device further comprises: A vehicle control system including a host device participation request unit (S220, S230) configured to transmit the participation request with information indicating the host device as the participation request device information when participating in the communication group.

4. 4. The vehicle control system according to claim 3, the update unit is configured to update the belonging device information by adding the participation request device information included in the participation request to the belonging device information; The electronic control device further comprises: A vehicle control system comprising a participation response unit (S50) configured to, when updating the belonging device information based on the participation request, send a participation response including the belonging device information to the electronic control device that is the sender of the participation request.

5. 3. The vehicle control system according to claim 2, The electronic control device further comprises: A vehicle control system comprising: an other device participation request unit (S310, S320) configured to transmit a participation request in which, when an electronic control device is to be added to participate in the communication group, the belonging group information indicating the communication group to which the device belongs is used as the participation request group information, and additional device information indicating the electronic control device to be added is used as the participation request device information.

6. 6. A vehicle control system according to claim 5, The vehicle control system is configured such that, when the participation request device information included in the participation request indicates the own device, the update unit sets the participation request group information of the participation request to the belonging group information of the own device, and further stores the additional device information included in the participation request device information of the participation request and information indicating the electronic control device that is the sender of the participation request as the belonging device information.

7. 3. A vehicle control system according to claim 1, further comprising: The update unit further When a deletion request including deletion request group information indicating the communication group to be deleted and deletion request device information indicating the electronic control device to be deleted is received via the in-vehicle network, it is determined whether the belonging group information stored in the electronic control device matches the deletion request group information of the deletion request; A vehicle control system configured to update the affiliation device information by deleting information indicating the own device from the affiliation device information of the affiliation group information corresponding to the deletion request group information when the affiliation group information and the deletion request group information match.

8. 3. The vehicle control system according to claim 2, The electronic control device further comprises: a new request unit (S410, S420) configured to transmit the participation request with new group information indicating a new communication group that is a new communication group different from the plurality of communication groups already formed in the vehicle control system as the participation request group information, and with information indicating the electronic control device belonging to the new communication group as the participation request device information; a new deletion unit (S450, S460) configured to transmit a new deletion request in which the new group information is set as deletion request group information indicating the communication group to be deleted; A vehicle control system comprising:

9. A vehicle control system (1) including a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6), At least some of the plurality of electronic control devices belong to at least one of a plurality of communication groups; the vehicle control system is configured to be able to switch one or more of the electronic control devices belonging to each communication group between a wakeup state and a sleep state collectively, for each communication group; Each of the electronic control devices stores group identification information that associates group information indicating a communication group to which the electronic control device belongs with device information indicating all of the electronic control devices that belong to the communication group; The electronic control device includes: An electronic control device comprising an update unit (S30, S80) configured to update the group identification information based on a join request received from another electronic control device via the in-vehicle network, the join request requesting an update of the group identification information.

10. 10. The electronic control device according to claim 9, the participation request includes participation request group information indicating the communication group to be joined and participation request device information indicating the electronic control device to be joined; The electronic control device further includes a host device participation request unit (S220, S230) configured to transmit the participation request with information indicating the host device as the participation request device information when participating in the communication group.

11. 10. The electronic control device according to claim 9, the participation request includes participation request group information indicating the communication group to be joined and participation request device information indicating the electronic control device to be joined; The electronic control device further includes an other device participation request unit (S310, S320) configured to transmit the participation request in which, when adding an electronic control device to participate in the communication group, the belonging group information indicating the communication group to which the electronic control device belongs is used as the participation request group information, and the additional device information indicating the electronic control device to be added is used as the participation request device information.

12. A communication management method executed in a vehicle control system (1) having a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6), comprising: At least some of the plurality of electronic control devices belong to at least one of a plurality of communication groups; the vehicle control system is configured to be able to switch one or more of the electronic control devices belonging to each communication group between a wakeup state and a sleep state collectively, for each communication group; Each of the electronic control devices stores group identification information that associates group information indicating a communication group to which the electronic control device belongs with device information indicating all of the electronic control devices that belong to the communication group; a first electronic control unit among the plurality of electronic control units transmits a participation request for requesting an update of the group identification information to the other electronic control units via the in-vehicle network; a second electronic control unit among the plurality of electronic control units, when receiving the participation request via the in-vehicle network, updating the group identification information based on the participation request;

13. A communication management program executed by an electronic control device of a vehicle control system (1) equipped with a plurality of electronic control devices (3, 4) mounted on a vehicle and connected to an in-vehicle network (6), comprising: At least some of the plurality of electronic control devices belong to at least one of a plurality of communication groups; the vehicle control system is configured to be able to switch one or more of the electronic control devices belonging to each communication group between a wakeup state and a sleep state collectively, for each communication group; Each of the electronic control devices stores group identification information that associates group information indicating a communication group to which the electronic control device belongs with device information indicating all of the electronic control devices that belong to the communication group; A computer of the electronic control device, A communication management program for functioning as an update unit (S30, S80) configured to update the group identification information based on a participation request received from another electronic control unit via the in-vehicle network, the participation request requesting an update of the group identification information.

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