Apparatus, method and system for remotely accessing and/or controlling can node arrangements, including vehicle electronic control units, during vehicle operation

• US 6,801,942 B1
• Filed: 09/15/2000
• Issued: 10/05/2004
• Est. Priority Date: 09/15/2000
• Status: Active Grant

• Current Assignee: Robert Bosch Corporation (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Springer, Alexander, Dietrich, Arne, Seubert, Bernhard, Klausner, Markus
• Primary Examiner(s): Wiley, David
• Assistant Examiner(s): Collins, Scott M.
• Application Number:
  US09/663,210
• Time in Patent Office: 1,481 Days
• Field of Search: 709/201-253
• US Class Current: 709/225
• CPC Class Codes: H04L 12/4625 Single bridge functionality, e.g. connection of two networks over a single bridge
• CPC Class Codes: H04L 2012/40215 Controller Area Network CAN
• CPC Class Codes: H04L 2012/40273 the transportation system being a vehicle

Abstract

A method for remotely accessing at least one of at least one CAN node arrangement of a CAN bus arrangement associated with the vehicle during vehicle operation, the CAN bus arrangement being associated with a CAN gateway arrangement for coupling to an external network, inn which the method includes the steps of communicating an initialization control message from the CAN gateway arrangement to the at least one CAN node arrangement using the CAN bus arrangement, the initialization control message including a CAN node arrangement identifier code, comparing the CAN node arrangement identifier code with a unique CAN node arrangement identifier code stored at each of the at least one CAN node arrangement for determining a selected CAN node arrangement based on the CAN node arrangement identifier code and the unique CAN node arrangement identifier code, processing the initialization control message using the selected CAN node arrangement, communicating a data addressing message from the CAN gateway arrangement to the selected CAN node arrangement, the data addressing message including at least one memory address of the data to be at least one of accessed, controlled and retrieved, communicating at least one data reply message from the selected CAN node arrangement to the CAN gateway arrangement, in which the at least one data reply message includes a data payload, incorporating at least the data payload of the at least one data reply message using a communication protocol of the external network for communication of the data payload to the remote accessing arrangement, and communicating an end control message from the CAN gateway arrangement to the selected CAN node arrangement using the CAN bus arrangement.

Claims

1. A method for remotely accessing at least one CAN node arrangement of a CAN bus arrangement associated with a vehicle during vehicle operation, the CAN bus arrangement being associated with a CAN gateway arrangement for coupling to an external network, the method comprising the steps of:

communicating an initialization control message from the CAN gateway arrangement to the at least one CAN node arrangement using the CAN bus arrangement, the initialization control message including a CAN node arrangement identifier code;

comparing the CAN node arrangement identifier code with a unique CAN node arrangement identifier code stored at each of the at least one CAN node arrangement for determining a selected CAN node arrangement based on the CAN node arrangement identifier code and the unique CAN node arrangement identifier code;

processing the initialization control message using the selected CAN node arrangement;

communicating a data addressing message from the CAN gateway arrangement to the selected CAN node arrangement, the data addressing message including at least one memory address of the data to be at least one of accessed, controlled and retrieved;

communicating at least one data reply message from the selected CAN node arrangement to the CAN gateway arrangement, wherein the at least one data reply message includes a data payload;

incorporating at least the data payload of the at least one data reply message using a communication protocol of the external network for communication of the data payload to the remote accessing arrangement; and

communicating an end control message from the CAN gateway arrangement to the selected CAN node arrangement using the CAN bus arrangement.

2. The method of claim 1, further comprising the step of establishing a wireless communication link between a remote accessing and control arrangement and the CAN gateway arrangement.

3. The method of claim 2, wherein the step of establishing the wireless communication is performed using a data call based on a point-to-point protocol.

4. The method of claim 2, wherein the remote accessing and control arrangement includes a computer arrangement.

5. The method of claim 2, wherein the remote accessing and control arrangement includes a wireless communication arrangement.

6. The method of claim 2, wherein the remote accessing and control arrangement includes a computer arrangement and a wireless communication arrangement.

7. The method of claim 1, wherein the external network includes the Internet.

8. The method of claim 2, wherein:

the communication protocol includes at least one of a transmission control protocol and an Internet protocol; and

the remote accessing and control arrangement and the CAN gateway node arrangement are identified by associated addresses based on the Internet protocol.

9. The method of claim 1, wherein the CAN gateway arrangement includes:

a processor arrangement for communicating with the CAN node arrangement using the CAN bus arrangement; and

a wireless communication arrangement for communications with a remote accessing and control arrangement.

10. The method of claim 1, wherein the CAN bus arrangement includes:

at least two CAN buses; and

at least one CAN/CAN gateway arrangement for coupling the at least two CAN buses.

11. The method of claim 1, wherein the at least one CAN node arrangement includes at least one of an electronic control unit, a sensor arrangement and a control module for use in the vehicle.

12. The method of claim 1, wherein the initialization control message includes a data defining payload for defining the data to be one of accessed, controlled and retrieved from the selected CAN node arrangement.

13. The method of claim 2, wherein:

the remote accessing and control arrangement communicates control information using a transmission control protocol; and

the control information corresponds to at least the initialization control message, the data addressing message, the data reply message and the end control message for causing the CAN gateway arrangement to communicate at least the initialization control message, the data addressing message, the data reply message and the end control message on the CAN bus arrangement.

14. The method of claim 2, wherein the CAN node arrangement identifier code for determining the selected CAN node arrangement is determined by a program of the remote accessing and control arrangement.

15. The method of claim 1, wherein the CAN gateway arrangement stores a set of CAN gateway message identifiers for providing CAN gateway communications on the CAN bus arrangement.

16. The method of claim 1, wherein the CAN gateway arrangement stores at least one of a message time period and a debounce time period.

17. The method of claim 1, wherein the CAN gateway arrangement stores unique CAN node arrangement identifier codes for each of the at least one CAN node arrangement.

18. The method of claim 17, wherein:

the unique CAN node arrangement identifier codes differ from corresponding addresses used by a program of a remote accessing and control arrangement; and

the CAN gateway arrangement includes a lookup table for matching each of the unique CAN node arrangement identifier codes and the corresponding addresses from the remote accessing and control arrangement.

19. The method of claim 1, wherein the data addressing message includes information for at least one of accessing, controlling and retrieving at least one of a single word, two words and a plurality of words within an address range.

20. The method of claim 19, wherein the plurality of words within the address range are communicated in a set of multiplexed data reply messages.

21. The method of claim 1, wherein at least one of a selected electronic control unit and the selected CAN node arrangement replies to the data addressing message with the at least one data reply message.

22. The method of claim 21, wherein:

data reply message identifiers differ from initialization control message identifiers and data addressing message identifiers; and

the data reply messages are communicated periodically by one of using a same data reply message identifier for a multiplexed payload and using a changing data reply message identifier.

23. The method of claim 1, wherein:

at least one of a selected electronic control unit and the selected CAN node arrangement is monitored essentially in real-time by periodically retrieving at least one word; and

payload information of each of the data reply messages is transmitted by the CAN gateway arrangement without delay on the external network.

24. The method of claim 23, wherein the payload information includes internal signal information from a memory of the selected electronic control unit.

25. The method of claim 1, wherein at least one of multiple word retrieval and a memory dump is provided by buffering payload information of the data reply messages and concatenated into a transmission communication protocol information stream.

26. The method of claim 1, wherein the data addressing message and a control message are included in one message for communication on the CAN bus arrangement.

27. The method of claim 1, wherein the initialization control message further includes:

a command specifying one of a class and a type of data to be retrieved; and

at least one bit for implementing at least one of an initiate data retrieval state and a stop data retrieval state.

28. The method of claim 1, wherein the initialization control message further includes at least one bit adapted to provide one of access to and control over the at least one CAN node arrangement.

29. The method of claim 1, wherein the initialization control message further includes:

a first byte identifying the at least one CAN node arrangement; and

a second byte including one of a data access command, a data control command, and a data retrieval command.

30. The method of claim 1, wherein the data addressing message further includes a byte containing a number of words to be retrieved after a word location provided by the initialization control message.

31. The method of claim 1, wherein the initialization control message further includes the data addressing message.

32. The method of claim 1, wherein the at least one data reply message further includes a first byte including the CAN node arrangement identifier code.

33. The method of claim 32, wherein data payload includes a requested word payload occupying seven bytes following the first byte.

34. A system for remotely accessing at least one CAN node arrangement during vehicle operation, the system comprising:

a CAN bus arrangement for use in a vehicle, the at least one CAN bus including the at least one CAN node arrangement;

a wireless communication arrangement for coupling with an external network;

a CAN gateway arrangement for coupling with the remote network arrangement, the CAN gateway arrangement being coupled to the wireless communication arrangement;

another wireless communication arrangement; and

a remote accessing and control arrangement for at least one of remotely accessing and remotely controlling at least one of the at least one CAN node arrangement through the CAN bus arrangement, the remote accessing and control arrangement being coupled to the another wireless arrangement and being configured for communicating between the another wireless communication arrangement and the wireless communication arrangement of the CAN gateway arrangement.

35. The system of claim 34, wherein the CAN gateway arrangement includes a processor for performing the following steps:

communicating an initialization control message from the CAN gateway arrangement to the at least one CAN node arrangement using the CAN bus arrangement, the initialization control message including a CAN node arrangement identifier code;

comparing the CAN node arrangement identifier code with a unique CAN node arrangement identifier code stored at each of the at least one CAN node arrangement for determining a selected CAN node arrangement based on the CAN node arrangement identifier code and the unique CAN node arrangement identifier code;

processing the initialization control message using the selected CAN node arrangement;

communicating a data addressing message from the CAN gateway arrangement to the selected CAN node arrangement, the data addressing message including at least one memory address of the data to be at least one of accessed, controlled and retrieved;

communicating at least one data reply message from the selected CAN node arrangement to the CAN gateway arrangement, wherein the at least one data reply message includes a data payload;

incorporating at least the data payload of the at least one data reply message using a communication protocol of the external network for communication of the data payload to the remote accessing arrangement; and

communicating an end control message from the CAN gateway arrangement to the selected CAN node arrangement using the CAN bus arrangement.

36. The system of claim 35, wherein the data addressing message and a control message are included in one message for communication on the CAN bus arrangement.

37. A CAN gateway arrangement for accessing at least one CAN node arrangement of a CAN bus arrangement associated with the vehicle during vehicle operation, the CAN bus arrangement being linkable to the CAN gateway arrangement for coupling to an external network, the CAN gateway arrangement comprising:

a processor arrangement for performing the following steps;

communicating an initialization control message from the CAN gateway arrangement to the at least one CAN node arrangement using the CAN bus arrangement, the initialization control message including a CAN node arrangement identifier code;

comparing the CAN node arrangement identifier code with a unique CAN node arrangement identifier code stored at each of the at least one CAN node arrangement for determining a selected CAN node arrangement based on the CAN node arrangement identifier code and the unique CAN node arrangement identifier code;

processing the initialization control message using the selected CAN node arrangement;

communicating a data addressing message from the CAN gateway arrangement to the selected CAN node arrangement, the data addressing message including at least one memory address of the data to be at least one of accessed, controlled and retrieved;

communicating at least one data reply message from the selected CAN node arrangement to the CAN gateway arrangement, wherein the at least one data reply message includes a data payload;

incorporating at least the data payload of the at least one data reply message using a communication protocol of the external network for communication of the data payload to the remote accessing arrangement; and

communicating an end control message from the CAN gateway arrangement to the selected CAN node arrangement using the CAN bus arrangement.

38. The CAN gateway arrangement of claim 37, further comprising a wireless communications arrangement for communicating with the external network.

39. The CAN gateway arrangement of claim 38, wherein the wireless communications arrangement includes at least one of a modem and a cellular phone.

40. The CAN gateway arrangement of claim 37, wherein the data addressing message and a control message are included in one message for communication on the CAN bus arrangement.