KR102275144B1 - Can frame-ethernet packet converting method in domain control unit - Google Patents

Abstract

A method for converting a CAN (Controller Area Network) frame-Ethernet packet of a domain control unit (DCU) of a vehicle domain controller (DCU) according to the present invention comprises the steps of converting first CAN frames into first Ethernet packets through a SOME-IP module in a transmitter , and converting a second Ethernet packet into second CAN frames through the SOME-IP module at the receiver.

Description

Vehicle domain controller and its CAN frame-Ethernet packet conversion method {CAN FRAME-ETHERNET PACKET CONVERTING METHOD IN DOMAIN CONTROL UNIT}

The present invention relates to a vehicle domain controller (DCU) and its CAN frame-Ethernet packet conversion method.

In the vehicle communication field, CAN (Controller Area Network) communication is widely used, and is still widely used today. However, as the communication volume of the vehicle increases, restrictions according to the data transmission amount and speed of CAN communication are emerging. There are protocols that increase the amount of data, such as CAN-FD, but they are rapidly being replaced by vehicle Ethernet communication. The AUTOSAR platform refers to the international standard specification in the field of automotive platforms. It is divided into Classic AUTOSAR that emphasizes Real Time based on MCU (Micro Control Unit) of a single processor and Adaptive AUTOSAR based on high-performance chip based on AP (Application Processor). Here, as a core module of Adaptive AUTOSAR, SOME-IP (Scalable Service Oriented Middleware over IP (Internet Protocol)) provides an Ethernet communication function based on SOA (Service Oriented Architecture).

Chinese Laid-Open Patent: CN 110535740, Publication Date: December 3, 2019, Title: Signal Processing Method, Apparatus, Storage Media and Terminal

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle domain controller providing high-performance communication and a CAN frame-Ethernet packet conversion method thereof.

In the method for converting a CAN (Controller Area Network) frame-Ethernet packet of a vehicle domain controller (DCU) according to an embodiment of the present invention, a transmitter converts first CAN frames into a first Ethernet packet through a SOME-IP module. converting; and converting the second Ethernet packet into second CAN frames through the SOME-IP module in the receiver.

In an embodiment, converting the first Ethernet packet into the first Ethernet packet may include receiving the first CAN frames from an external CAN device in the transmitter.

In an embodiment, the converting into the first Ethernet packet may include defining each Message ID and Message Type of the first CAN frames in the transmitter.

In an embodiment, the converting into the first Ethernet packet comprises serializing the first CAN frames by using the Message ID and Message Type of each of the first CAN frames in the SOME-IP module. The method may further include generating a packet.

In an embodiment, the converting into the first Ethernet packet may further include converting each of the first CAN frames into a service form.

In an embodiment, the converting to the service form comprises: extracting header information from each of the first CAN frames; and setting a Service ID, Method ID, Client ID, and Message Type for each of the first CAN frames using a mapping table, wherein the mapping table provides a matrix for CAN signal and SOME-IP header information. It may be characterized by including.

In an embodiment, the converting into the second CAN frames may include receiving the second Ethernet packet from an external Ethernet device at the receiver.

In an embodiment, the converting into the second CAN frames may include deserializing the second Ethernet packet in the SOME-IP module.

In an embodiment, the converting into the second CAN frames includes: recovering a CAN message ID from SOME-IP header information from the deserialized second Ethernet packet using a mapping table; and recovering second CAN frames from the deserialized second Ethernet packet, wherein the mapping table includes a matrix for CAN signal and SOME-IP header information.

A vehicle domain controller (Domain Control Unit) connected between a high-performance controller connected to an Ethernet network and a plurality of electronic control units connected to a CAN (Controller Area Network) according to an embodiment of the present invention, the first plurality of electronic control units a transmitter for receiving first CAN frames from at least one among them, and converting the first CAN frames into a first Ethernet packet by serializing the first CAN frames through a SOME-IP module; and a receiver that receives the second Ethernet packet from the high-performance controller and converts the second Ethernet packet into second CAN frames by deserializing the second Ethernet packet through the SOME-IP module.

In an embodiment, each of the transmitter and the receiver performs CAN frame-Ethernet packet conversion using a mapping table between CAN signal information and service information.

In an embodiment, the transmitter configures a SOME-IP header with each of the first CAN frames.

In an embodiment, the transmitter identifies the receiving device using the SOME-IP header information.

In an embodiment, the receiver transmits the second CAN frames to the CAN device using User Datagram Protocol (UDP).

The vehicle domain controller and its CAN frame-Ethernet packet conversion method according to an embodiment of the present invention provide information on devices of a CAN network connected to devices providing each router function for SOME-IP Message ID and Message Type settings. By providing mapping, it is possible to support serialization/deserialization of SOME-IP module.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention communicates CAN-Ethernet conversion without violating the SOME-IP protocol through the minimum setting and additional development of a structure for each frame specified in the CAN protocol. can be performed.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention is commonly applicable to all devices that can use the Adaptive AUTOSAR platform.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can perform CAN-Ethernet conversion communication with minimal configuration and code addition without changing an existing interface or protocol.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can increase communication efficiency gain by efficiently providing a serialization/deserialization function in a high-performance AP.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can be classified into a Message ID and a Message Type for communication between Ethernet devices and CAN↔Ethernet conversion communication.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to the embodiment of the present invention does not require a review of CAN ↔ Ethernet conversion communication in the Ethernet device.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can be used in other projects only by setting it when development is completed, so that recyclability can be improved.

The accompanying drawings are provided to help understanding of the present embodiment, and provide embodiments together with detailed description. However, the technical features of the present embodiment are not limited to specific drawings, and features disclosed in each drawing may be combined with each other to constitute a new embodiment.
1 is a diagram showing a processing process of a general SOME-IP communication.
2 is a diagram illustrating a general SOME-IP communication operation.
3 is a diagram exemplarily showing a system level architecture according to an embodiment of the present invention.
4 is a diagram exemplarily showing a network system 20 according to an embodiment of the present invention.
5 is a diagram exemplarily illustrating a process of directly processing a plurality of CAN frames in the SOME-IP module 100 according to an embodiment of the present invention.
FIG. 6 is a diagram exemplarily illustrating an area in which the Ethernet device 21-M and the router 23 perform CAN frame conversion and transmission using each SOME-IP module.
7 is a diagram illustrating CAN frame conversion and transmission using the SOME-IP module according to an embodiment of the present invention.
8 is a diagram illustrating CAN frame conversion and transmission using the SOME-IP module according to another embodiment of the present invention.
9 is a diagram exemplarily illustrating a service communication method of a SOME-IP module according to an embodiment of the present invention.
10 is a diagram exemplarily showing method conversion using a service conversion mapping table of a CAN communication frame according to an embodiment of the present invention.
11 is a diagram exemplarily illustrating event conversion using a service conversion mapping table of a CAN communication frame according to an embodiment of the present invention.
12 is a flowchart exemplarily illustrating a CAN frame-Ethernet packet conversion operation of a vehicle domain controller according to an embodiment of the present invention.

Hereinafter, the contents of the present invention will be described clearly and in detail to the extent that those skilled in the art can easily implement it using the drawings.

Since the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms.

The above terms may be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

Other expressions describing the relationship between components, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", should be interpreted similarly. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprise” or “have” are intended to designate the presence of an embodied feature, number, step, operation, component, part, or combination thereof, but one or more other features or numbers , it should be understood that it does not preclude the possibility of the existence or addition of steps, operations, components, parts, or combinations thereof. Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as meanings consistent with the context of the related art, and unless explicitly defined in the present application, they are not to be interpreted in an ideal or excessively formal meaning. .

The present invention discloses CAN communication frame conversion using an AUTOSAR SOME-IP (Scalable Service Oriented Middleware over IP) module.

1 is a diagram showing a processing process of a general SOME-IP communication. Referring to FIG. 1 , application functions and operations are converted into service types, and communication is performed independently under a platform.

2 is a diagram illustrating a general SOME-IP communication operation. Referring to FIG. 2 , SOME-IP uses methods, events, and fields when transmitting and receiving data. Here, the method has two types depending on whether the client makes a request to the server (remote procedure call) and whether there is a return value. event is used when you want to request an event from the server and receive the result. The field indicates the access method to the data of the service. For example, there are 3 types of get/set/notifier.

3 is a diagram exemplarily showing a system level architecture according to an embodiment of the present invention. Referring to FIG. 3 , the system level architecture 10 may include a plurality of high performance controllers 11 and 12 . The high performance controller 11 may be implemented to manage a plurality of domain control units. Each domain control unit may manage a plurality of ECUs. The high performance controller 12 may be implemented to manage one domain control unit.

In general, the CAN signal communication method widely used in the functional architecture structure has evolved into a domain architecture method using a DCU that communicates and controls the signal by putting a signal on an Ethernet packet. In a more advanced form, the DCU (Domain Control Unit (DCU) ) to control the system level architecture is evolving. A method of changing the CAN ↔ Ethernet communication frame has been proposed in the domain architecture. The DCU equipped with the module developed for the conversion function is designed, and the application is developed according to the protocol used in the DCU so that communication between CAN ↔ Ethernet architecture is possible. In the system-level architecture 10 of the present invention, SOME/IP is utilized for each DCU and a high-performance controller (Application Processor). It is necessary to efficiently convert the CAN frame using SOME/IP and transmit it in the form of SOA.

4 is a diagram exemplarily showing a network system 20 according to an embodiment of the present invention. Referring to FIG. 4 , the network system 20 includes Ethernet devices 21-1 to 21-M connected to the Ethernet network 21 , and CAN devices 22-1 to 22-N connected to the CAN network 22 . ), and a router 23 .

Each of the Ethernet devices 21-1 to 21-M can only perform Ethernet communication.

Each of the CAN devices 22-1 to 22-N may only perform CAN communication.

The router 23 may be implemented to transmit/receive between the CAN device and the Ethernet device. The router 23 may include the DCU shown in FIG. 3 .

5 is a diagram exemplarily illustrating a process of directly processing a plurality of CAN frames in the SOME-IP module 100 according to an embodiment of the present invention.

The SOME-IP module 100 may perform data serialization/deserialization. That is, the SOME-IP module can perform CAN frame ↔ Ethernet frame conversion. In addition, the SOME-IP module 100 may manage a communication state or service. In addition, the SOME-IP module 100 can transmit and receive Ethernet. For example, the SOME-IP module 100 may control packet transmission and reception.

Referring to FIG. 5 , the SOME-IP module 100 may receive a plurality of CAN frames from the transmitter 200 and serialize the data. In addition, the SOME-IP module 100 may transmit a plurality of CAN frames to the receiver 300 by deserializing the serialized data to the data.

FIG. 6 is a diagram exemplarily illustrating an area in which the Ethernet device 21-M and the router 23 perform CAN frame conversion and transmission using each SOME-IP module.

7 is a diagram illustrating CAN frame conversion and transmission using the SOME-IP module according to an embodiment of the present invention.

In an embodiment, the transmitter may receive a CAN frame, define a Message ID and a Message Type, serialize it in SOME-IP, and perform Ethernet packet transmission (Message ID). In an embodiment, the receiver may receive an Ethernet packet, deserialize SOME-IP, classify a CAN frame (Message Type), and process CAN data.

Referring to FIG. 7 , the transmission operation of the router 23 may proceed as follows. The router 23 may receive the CAN frame, define a Message ID and Message Type, serialize it using the SOME-IP module, and transmit the serialized Ethernet packet. The reception operation of the Ethernet device 21 -M may proceed as follows. The Ethernet device 21-M may receive the Ethernet packet, deserialize it in the SOME-IP module, determine whether it is a CAN frame, and transmit the CAN data to the application (APP). The transmission operation of the Ethernet device 21 -M may proceed as follows. The Ethernet device 21-M may receive CAN data of the application APP, define a Message ID and Message Type, serialize it using the SOME-IP module, and transmit the serialized Ethernet packet. The reception operation of the router 23 may proceed as follows. The router 23 may receive the Ethernet packet, deserialize it in the SOME-IP module, determine whether it is a CAN frame, and transmit the CAN frame.

Meanwhile, the process of converting and transmitting a CAN frame through the SOME-IP module according to an embodiment of the present invention may further include a process of converting to a service form.

8 is a diagram illustrating CAN frame conversion and transmission using the SOME-IP module according to another embodiment of the present invention.

In an embodiment, the transmitter may receive a CAN frame, be converted into a service form, define a Message ID and Message Type, serialize in SOME-IP, and perform Ethernet packet transmission (Message ID). In an embodiment, the receiver may receive an Ethernet packet, deserialize SOME-IP, convert it into a signal form, classify a CAN frame (Message Type), and process CAN data.

Referring to FIG. 8 , the router 23 may include a CAN transmit buffer and a receive buffer. The mapping table may include a matrix of CAN signal and SOME-IP header information. A service finder may extract header information using CAN Message ID. Service Explorer can set Service ID, Method ID, Client ID, and Message Type. The signal finder can restore the CAN Message ID by using the SOME-IP header information. The message serializer can convert the CAN data into a SOME-IP payload. The message deserializer can reconstruct the SOME-IP message to CAN data.

9 is a diagram exemplarily illustrating a service communication method of a SOME-IP module according to an embodiment of the present invention. Referring to FIG. 9 , an Adaptive AUTOSAR communication manager may be used for SOA. By adopting the Proxy-Skeleton structure, the application can access the proxy provided in the form of Class/Function. The communication manager can be responsible for exchanging data with the service by communicating with the skeleton of the service connected to the corresponding proxy. In an embodiment, the communication method between proxy-skeletons may support data exchange through the SOME-IP module. In an embodiment, the data transmission/reception method between the proxy and the skeleton may support Method, Event, and Field.

10 is a diagram exemplarily showing method conversion using a service conversion mapping table of a CAN communication frame according to an embodiment of the present invention. Referring to FIG. 10 , service ↔ signal conversion is possible using a mapping table. Mapping tables corresponding to Method, Event, and Field actions will be designed. In an embodiment, the CAN message may constitute one argument. Here, up to 64-bit size can be allocated for each argument. In an embodiment, the Message ID can be used for method communication by replacing it with a Method ID. In an embodiment, it is possible to communicate with a specific skeleton and method by adjusting the Client ID.

11 is a diagram exemplarily illustrating event conversion using a service conversion mapping table of a CAN communication frame according to an embodiment of the present invention. Referring to FIG. 11 , service ↔ signal conversion is possible using a mapping table. A mapping table corresponding to Event and Field actions will be designed. In an embodiment, data information of a plurality of CAN messages is collected, and event-type communication is possible. For example, data may be aggregated by polling. In an embodiment, the Message ID can be used for method communication by replacing it with a Method ID. In an embodiment, it is possible to perform an event in a plurality of clients registered in the event group.

12 is a flowchart illustrating an operation of a vehicle domain controller according to an embodiment of the present invention. 1 to 12 , the operation of the vehicle domain controller may proceed as follows.

The transmitter 200 of the vehicle domain controller may convert the first CAN frames into a first Ethernet packet using the SOME-IP module 100 (S100). The receiver 300 of the vehicle domain controller may convert the second Ethernet packet into second CAN frames using the SOME-IP module 100 ( S120 ).

In an embodiment, converting the first Ethernet packet may include receiving the first CAN frames from an external CAN device in the transmitter 200 .

In an embodiment, converting to the first Ethernet packet may include defining each Message ID and Message Type of the first CAN frames in the transmitter 200 .

In an embodiment, converting the first Ethernet packet to the first Ethernet packet by serializing the first CAN frames using the Message ID and Message Type of each of the first CAN frames in the SOME-IP module 100 It may further include generating

In an embodiment, the converting into the first Ethernet packet may further include converting each of the first CAN frames into a service form.

In an embodiment, converting to a service form includes: extracting header information from each of the first CAN frames; and setting Service ID, Method ID, Client ID, and Message Type for each of the first CAN frames by using the mapping table. Here, the mapping table may include a matrix for CAN signal and SOME-IP header information.

In an embodiment, converting the second CAN frames may include receiving the second Ethernet packet from an external Ethernet device in the receiver 300 .

In an embodiment, converting the second CAN frames may include deserializing the second Ethernet packet in the SOME-IP module 100 .

In an embodiment, the conversion to the second CAN frames includes recovering the CAN message ID from the SOME-IP header information from the deserialized second Ethernet packet using a mapping table and the second from the deserialized second Ethernet packet. It may further include reconstructing 2 CAN frames.

A vehicle domain controller (Domain Control Unit) connected between a high-performance controller connected to an Ethernet network and a plurality of electronic control units connected to a CAN (Controller Area Network) according to an embodiment of the present invention, among the first plurality of electronic control units a transmitter 200 that receives the first CAN frames from at least one and converts the first CAN frames into a first Ethernet packet by serializing the first CAN frames through the SOME-IP module 100; and a receiver 300 that receives the second Ethernet packet from the high-performance controller and converts the second Ethernet packet into second CAN frames by deserializing the second Ethernet packet through the SOME-IP module 100 .

In an embodiment, each of the transmitter 200 and the receiver 300 performs CAN frame-Ethernet packet conversion using a mapping table between CAN signal information and service information.

In an embodiment, the transmitter 200 configures a SOME-IP header with each of the first CAN frames.

In an embodiment, the transmitter 200 uses SOME-IP header information to identify the receiving device.

In an embodiment, the receiver 300 transmits the second CAN frames to the CAN device using User Datagram Protocol (UDP).

Steps and/or operations according to the present invention may occur concurrently in different embodiments, either in a different order, or in parallel, or for different epochs, etc., as would be understood by one of ordinary skill in the art. can

Depending on the embodiment, some or all of the steps and/or operations run instructions, programs, interactive data structures, clients and/or servers stored in one or more non-transitory computer-readable media. At least some may be implemented or performed using one or more processors. The one or more non-transitory computer-readable media may be illustratively software, firmware, hardware, and/or any combination thereof. Further, the functionality of a “module” discussed herein may be implemented in software, firmware, hardware, and/or any combination thereof.

One or more non-transitory computer-readable media and/or means for implementing/performing one or more acts/steps/modules of embodiments of the present invention may include application-specific integrated circuits (ASICs), standard integrated circuits, may include, but are not limited to, controllers that perform appropriate instructions, including microcontrollers, and/or embedded controllers, field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), and the like. does not

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can increase communication efficiency gain by efficiently providing a serialization/deserialization function in a high-performance AP.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can be classified into a Message ID and a Message Type for communication between Ethernet devices and CAN↔Ethernet conversion communication.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention does not require a review of CAN ↔ Ethernet conversion communication in the Ethernet device.

The CAN frame-Ethernet packet conversion method of the vehicle domain controller according to an embodiment of the present invention can be used in other projects only by setting it when development is completed, so that recyclability can be improved.

On the other hand, the contents of the present invention described above are only specific examples for carrying out the invention. The present invention will include not only concrete and practically usable means, but also technical ideas, which are abstract and conceptual ideas that can be utilized as future technologies.

10: Network Architecture
11, 12: high-performance controller
20: network system
21: Ethernet Network
22: CAN Network
21-1 to 21-M: Ethernet device
22-1 to 21-N: CAN device
23: router
100: SOME-IP module
200: transmitter
300: receiver

Claims (14)

A method for converting a CAN (Controller Area Network) frame to an Ethernet packet of a vehicle domain controller (DCU), the method comprising:
converting the first CAN frames into first Ethernet packets through the SOME-IP module in the transmitter; and
converting a second Ethernet packet into second CAN frames through the SOME-IP module in a receiver,
The converting into the first Ethernet packet comprises:
defining each Message ID and Message Type of the first CAN frames in the transmitter;
Generating the first Ethernet packet by serializing the first CAN frames using the Message ID and Message Type of each of the first CAN frames in the SOME-IP module,
The converting into the first Ethernet packet comprises:
Further comprising the step of converting each of the first CAN frames into a service form,
The step of converting to the service form is,
extracting header information from each of the first CAN frames; and
Using a mapping table to set the Service ID, Method ID, Client ID, and Message Type for each of the first CAN frames,
The mapping table comprises a matrix for CAN signal and SOME-IP header information. The method of claim 1,
The converting into the first Ethernet packet comprises:
and receiving, at the transmitter, first CAN frames from an external CAN device. delete delete delete delete The method of claim 1,
The converting into the second CAN frames comprises:
and receiving the second Ethernet packet from an external Ethernet device at the receiver. The method of claim 1,
The converting into the second CAN frames comprises:
and deserializing the second Ethernet packet in the SOME-IP module. 9. The method of claim 8,
The converting into the second CAN frames comprises:
recovering a CAN message ID from SOME-IP header information from the deserialized second Ethernet packet using a mapping table; and
The method further comprising the step of recovering second CAN frames from the deserialized second Ethernet packet,
The mapping table comprises a matrix for CAN signal and SOME-IP header information. A vehicle domain controller connected between a high-performance controller connected to an Ethernet network and a plurality of electronic control units connected to a controller area network (CAN), comprising:
a transmitter receiving first CAN frames from at least one of the plurality of electronic control units and converting the first CAN frames into a first Ethernet packet by serializing the first CAN frames through a SOME-IP module; and
and a receiver for receiving a second Ethernet packet from the high-performance controller and converting the second Ethernet packet into second CAN frames by deserializing the second Ethernet packet through the SOME-IP module,
The transmitter defines a Message ID and a Message Type of each of the first CAN frames,
The SOME-IP module generates the first Ethernet packet by serializing the first CAN frames using each Message ID and Message Type of the first CAN frames,
The SOME-IP module converts each of the first CAN frames into a service form,
Converting to the above service form,
Header information is extracted from each of the first CAN frames, and Service ID, Method ID, Client ID, and Message Type are set for each of the first CAN frames using a mapping table, and the mapping table is a CAN signal and A vehicle domain controller comprising a matrix for SOME-IP header information. 11. The method of claim 10,
Each of the transmitter and the receiver performs CAN frame-Ethernet packet conversion using the mapping table between CAN signal information and service information. delete 11. The method of claim 10,
and the transmitter identifies a receiving device using the SOME-IP header information. 12. The method of claim 11,
The receiver transmits the second CAN frames to a CAN device using User Datagram Protocol (UDP).

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