CN109428663A - Synchronization mechanism for height sensors interface - Google Patents

Abstract

This disclosure relates to be used for the synchronization mechanism of height sensors interface.For example, a kind of sensor can determine the scheduled time for receiving upcoming synchronization signal based on two or more synchronization signals provided by control equipment.The sensor can execute the measurement to sensor signal at a time point, enable selecting time section of the sensing data corresponding with measurement of the place at the time point to sensor signal before receiving upcoming synchronization signal is used.

Description

Synchronization mechanism for height sensors interface

Cross reference to related applications

The application is in the part continuation application of on August 31st, the 2017 U.S. Patent application No.15/692,974 submitted (CIP), the U.S. Provisional Patent Application No.62/444 submitted on January 10th, 2017 is required based on 35U.S.C. § 119, 687 priority, content are incorporated herein by reference in their entirety.

Technical field

This disclosure relates to sensor field, more particularly, to the synchronization mechanism for height sensors interface.

Background technique

Sensor (for example, velocity sensor, position sensor, angular transducer, temperature sensor, current sensor etc.) It can be used for providing feedback information in Mechatronic Systems for example, by operating the interface between mechanical domain and electrical domain.One In a little situations, the physical location of sensor depends on the mechanical constraint of Mechatronic Systems, for example, available physical space, to sensing mesh Mark the accessibility of (for example, target wheel, shaft end etc.).Therefore, in some applications, sensor cannot be with electronic control unit (ECU) it integrates and must operate to be connected to the independence of ECU (i.e. long-range) sensor via wireline interface.

Summary of the invention

According to some possible embodiments, a kind of sensor may include for based on same by received one group of sensor Signal is walked to determine one or more components of sampling configuration, wherein sampling configuration can identify upcoming same for receiving Walk the scheduled time of signal；And it is triggered based on sampling configuration and sensor associated with upcoming synchronization signal is grasped The execution of work, wherein can be triggered before upcoming synchronization signal is received to the execution of sensor operations.

According to some possible embodiments, a kind of system may include sensor, which is used for: based on by sensing Device received one group of synchronization signal determines sampling configuration, and wherein it is estimated can to identify upcoming synchronization signal for sampling configuration The time received by sensor；And sensor associated with upcoming synchronization signal is executed based on sampling configuration Operation, wherein sensor operations can be performed such that sensing data associated with sensor operations is ready to arrive The synchronization signal the come estimated time being received is sent.

According to some possible embodiments, a kind of method may include: to be determined based on one group of synchronization signal is received Sampling configuration, wherein sampling configuration can identify the scheduled time for receiving upcoming synchronization signal；And it is based on adopting Original mold formula triggers the execution to sensor operations associated with upcoming synchronization signal, wherein to sensor operations Execution can be triggered before upcoming synchronization signal is received by sensor.

According to some possible embodiments, a kind of system may include: sensor, be used for: based on by control equipment Two or more synchronization signals provided determine the scheduled time for receiving upcoming synchronization signal；And one Measurement to sensor signal is executed at time point so that at the time point to the measurement of the sensor signal Selecting time section (or time interval of the corresponding sensing data before receiving the upcoming synchronization signal Place) it is available.

According to some possible embodiments, a kind of sensor may include one or more components, be used for: determining and uses In the scheduled time for receiving upcoming synchronization signal, wherein the scheduled time can be based on by related to the sensor One group of synchronization signal that the control equipment of connection provides determines；Sensor signal is sampled at a time point, so that base Institute is received in the sensor in the sensing data for being sampled and being calculated to the sensor signal at the time point Selecting time section before stating upcoming synchronization signal is available；Based at the time point to the sensor signal It is sampled to calculate the sensing data；And the biography is provided after receiving the upcoming synchronization signal Sensor data.

According to some possible embodiments, a kind of control equipment may include one or more components, be used for: by one Group synchronization signal is provided to one group of sensor, wherein one group of synchronization signal can be defined for identifying and another synchronization signal The sampling configuration of associated scheduled time；Another synchronization signal is provided；And provide another synchronization signal it Afterwards from the sensor receiving sensor data in one group of sensor, wherein being based on the sampling configuration, the sensor number It can be used according to before another synchronization signal is received by the sensor in the sensor.

Detailed description of the invention

Figure 1A and Figure 1B is the schematic diagram of the general view of example embodiment described herein；

Fig. 2 is the schematic diagram that system and or method described herein may be implemented within example context therein；

Fig. 3 is for being triggered and upcoming synchronization signal based on sampling configuration associated with synchronization signal is received The flow chart of the instantiation procedure of associated sensor operations；

Fig. 4 is the schematic diagram of example embodiment associated with instantiation procedure shown in Fig. 3；

Fig. 5 is for being selectively adjusted for triggering sensor operations associated with upcoming synchronization signal The flow chart of the instantiation procedure of delay time；

Fig. 6 is the schematic diagram of example embodiment associated with instantiation procedure shown in Fig. 5；

Fig. 7 is the schematic diagram for illustrating the sample application of sensing system described herein；

Fig. 8 be with as shown with reference to the synchronous mode of operation associated example embodiment described in the instantiation procedure of Fig. 3 It is intended to；

Fig. 9 A and Fig. 9 B are can be by the schematic diagram of the format sample of the ECU of Fig. 2 signal provided；And

It includes the schematic diagram for only listening the example context of ECU that Figure 10, which is as described in this article,.

Specific embodiment

Detailed description below example embodiment quotes attached drawing.Same reference numerals in different figures can be marked Know the same or similar element.

Interface (for example, wireline interface between distance sensor and ECU) between sensor and ECU is sensing system In important component.For example, the interface can influence the robustness of sensing system, because the interface is contributed significantly significantly In overall failure time (FIT) rate of sensing system, and can be by increasing production, assembling and/or maintenance sensor system The cost of system influences the cost of sensing system significantly.As another example, which can influence sensor significantly The performance of system, because the interface may act as the bottleneck of the transmission of the information in sensing system.

About the influence to performance, in some cases, the performance of sensing system can (such as can by connection bandwidth Total baud rate, available gross baud) and/or sensor and ECU between synchronous forfeiture limitation.Some In the case of, connection bandwidth problem can be solved by introducing advanced connection scheme.However, in the accessible of sensing system Aspect of performance, the synchronous forfeiture between sensor and ECU is still major limitation.

In general, the transmission of the information between sensor and ECU can be by sensors configured (for example, not coming from In the case where the request of ECU) automatically provide the stream (referred to herein as continuous data stream) of sensing data or by matching Sensor is set to provide sensing data based on request is received from ECU, to be handled.

In the case where continuous data stream, the sampling time is (for example, what sensor sampled sensor signal or measured Time) and time of transmission of starting sensing data both determine that the clock of sensor is being sensed by the clock of sensor It is operated in device clock domain.Here, ECU needs receiving sensor data in real time, even if ECU may be until later time Point (time later that ECU will execute calculating operation using sensing data) just needs sensing data.Therefore, ECU is necessary The operation for keeping sensing data synchronous with the clock of ECU 210 is executed, the clock of ECU 210 is being different from sensor clock domain It is operated in ECU clock domain.

Using this scheme, sampling is carried out to sensor signal in sensor and is deposited by ECU using between sensing data In variable delay.Contributor to the delay time includes: to execute sensor after sampling to sensor signal Time quantum required for data calculate makes sensor send the time required for sensing data after executing data and calculating It amount and completes to use " waiting " time quantum between sensing data to the transmission of sensing data and by ECU.

Due to the asynchronous operation of (such as due to operation) in different clock-domains sensor and ECU, delay time can To make sensor execute time quantum required for data calculate and send time quantum required for sensing data (herein Referred to as sensor time) the sum of one times and twice between change.In sensor renewal rate (such as the biography of sensing data The defeated rate provided as sensor) it is higher than ECU cycle time (such as ECU is made to execute time quantum required for a calculating cycle) In the case where, the waiting time can be (for example, the transmission when sensing data will accurately be used in sensing data by ECU Time point at when being completed) zero and change equal between the time quantum of sensor time.If sensor time is the ECU period The integral multiple of time, then the waiting time can theoretically keep constant.However, due to the tolerance of sensor and ECU clock domain, Integral multiple will not be constant, and therefore, thus the waiting time will introduce the change of delay time in each mechanical periodicity Change.

In some cases, can by improve sensor speed (such as so as to reduce execute data calculate time Amount) and/or the bandwidth (such as to reduce the time quantum for sending sensing data) of interface is improved to reduce delay time.This In, if the dynamics of sensing system be it is known, the deviation in the sensor time as caused by different operation condition can To be compensated by implementing algorithm for estimating in ECU.However, the variable part of delay time (i.e. waiting time) cannot be with this Kind of mode compensates.Therefore, can draw at ECU for transmitting the continuous data Flow Technique of information between sensor and ECU Enter excessively high and/or variable timing error (for example, for angular transducer between about 0 degree and 2.55 degree).

Sensors configured can to provide sensing data (that is, rather than continuous data stream) based on request is received from ECU To reduce or eliminate the timing error as caused by the clock domain of sensor and ECU.For example, using the biography for being used for this synchronization scheme System technology, ECU can provide synchronization signal to sensor.Here, receiving synchronization signal by sensor makes sensor to sensing Device signal is sampled and (is measured), is executed data and is calculated, and sends ECU for sensing data later.In such case Under, in by the decoded sensing data of ECU there is no timing error (for example, because based on the synchronization signal provided by ECU come Keep sensor synchronous with ECU).However, the traditional technology have the shortcomings that it is many.

One disadvantage of traditional technology is that the utilization rate of sensor interface bus is relatively low, because in sensor to sensing There is no communications in bus during the period that device signal was sampled and executed data calculating.This is also resulted in connects for given The reduction of the maximum possible renewal rate of port band width.

Similarly, the further drawback of traditional technology is, since ECU is needed in each update cycle access sensors interface Bus twice (for example, once in order to provide synchronization signal and later again so as to receiving sensor data), sensor interface The utilization rate of bus may be lowered, this is because sensor interface bus must be available for by sensor in scheduled time point It is transmitted at (for example, time of anticipated transmission sensing data).

The further drawback of traditional technology is that ECU provides synchronization signal before sensing data is sent by sensor. In some cases, such latent fault for postponing to be introduced into sensing system.

Traditional technology another is the disadvantage is that, ECU needs to switch between the different operation of following two executing: with offer Associated first operation of synchronization signal and the second operation associated with sensing data is received and processed.In some cases Under, interrupting operation (such as second operation) to be switched to another operation (such as first operation) may need to consume ECU's Computing capability, and therefore should be avoided by when possible.

The further drawback of traditional technology is the limitation about accessible sensor renewal rate.For example, in some sensings In device system (for example, for driving the rotor-position sensor of application), it may be necessary to relatively high sensor renewal rate (example Such as the transmission of every 33 microsecond (μ s) one complete sensing data).Here, sensor renewal rate by with receive synchronization signal Associated retardation, the time quantum sampled to sensor signal execute the time quantum calculated and send sensor number According to time quantum influence.In use in the common sensor of the conventional synchronization technology of text description, renewal rate be may, for example, be Every about 45 microsecond (μ s) one complete transmission (or even worse).Therefore, relatively high sensor renewal rate may be to use Conventional synchronization technology is unreachable to.

In order to realize the improved sensor renewal rate (i.e. compared with traditional technology), send required for sensing data Time quantum or sensor signal is sampled and is executed calculating required for time quantum can be reduced.However, due to about The limitation of the bandwidth of sensor interface, it may be infeasible for improving transmission speed, or will be with unreasonable high cost appearance (such as changing physical layer).Similarly, although can use faster signal processing to realize the sampling time and/or calculate the time Reduction, but improve signal processing speed can also occur with unreasonable high cost (such as implement advanced processes, implementation Parallel processing etc.).

It should be noted that despite the presence of the transmission for managing sensing data many technologies (for example, increment interface (IIF), Serial peripheral interface (SPI), unilateral nibble transmission (SENT), short pulse duration modulation code (SPC), pulsewidth modulation (PWM), simulation Deng), but these technologies can not provide acceptable interface bandwidth and/or (it is required to electromagnetic environment (EME) By the distance sensor use for requiring relatively high renewal rate (such as 33 μ s or more preferable)) immunity to interference.

In some cases, analog interface is used when needing relatively high renewal rate.However, although analog interface can To provide acceptable renewal rate, but analog interface have the shortcomings that it is many.For example, analog interface can require additional electricity Line transmits (for example, compared with digital interface, additional cost and/or complexity) in order to data, may be subject to electromagnetism mistake It very, and/or may be incompatible with specific data processing technique (such as digital processing technology) used in sensing system.Separately Outside, analog interface may not be able to transmit other information associated with sensor.For example, analog interface may not be able to be transmitted and be passed The associated diagnostic message of sensor, for example, associated with self diagnosis information, temperature information, with check sensor input data Range (such as magnetic field strength) associated information etc..

Some embodiments described herein are provided for making sensor (such as distance sensor) via digital interface The technology synchronous with ECU, while realizing that (for example, such as compared with above-described conventional synchronization technology) improved sensor updates Rate.In some embodiments, such improved synchronize can be by based on for expecting upcoming synchronization signal The triggering technique sensors configured of self-regulation realize, as will be described in further detail below.

In addition, some embodiments described herein are provided for making multiple sensors (such as multiple distance sensors) The technology synchronous with ECU, each of plurality of sensor are synchronously sampled (example to their own sensor signal Such as make each of multiple sensors while their own sensor signal is sampled).In some embodiments, Can based on the broadcast synchronization feature configured in sensor systems, operate multiple sensors with this synchronous mode, As will be described in further detail below.

Figure 1A and Figure 1B is the schematic diagram of the general view of example embodiment 100 described herein.As shown in Figure 1A, it senses Device is connected to ECU (for example, allowing sensor via sensor interface bus by sensor number via sensor interface bus ECU is arrived according to providing).In example embodiment 100, in order to keep sensor synchronous with ECU, sensor is configured as expecting to synchronize (sync) signal (before such signal is provided by ECU) is to allow improved sensor renewal rate while via number Interface, which is realized, to be synchronized, as described below.

As shown in appended drawing reference 105, ECU (such as when sensing system powers on) by one group of synchronization signal (for example, Including the first synchronization signal and the second synchronization signal) it provides and arrives sensor.For example, as shown, ECU can be provided by sensing Device is in received first synchronization signal at the first time.Here, sensor can execute sensor operations (for example, believing sensor Number sampled, calculate sensing data etc.), and ECU can be sent by first sensor data and (be not shown in Figure 1A In).ECU can after send by sensor time received second synchronization signal second (such as later).Again, it senses Device can execute sensor operations, and can send second sensor data to ECU (being not shown in figure 1A).

As shown in appended drawing reference 110, sensor can be based on receiving the first synchronization signal and the second synchronization signal, To expect third (for example, upcoming) synchronization signal.For example, in some embodiments, sensor can be based on first Synchronization signal and the second synchronization signal, come the associated sampling configuration of the synchronization signal that determines with received from ECU.Sampling configuration It can identify and for example be measured from the scheduled time between the synchronization signal that ECU receives given pair.Here, based on about from ECU The sampling configuration of the synchronization signal received, sensor are anticipated that third synchronization signal.For example, sensor can be based on sampling Mode expects the time point that third synchronization signal is received from ECU to identify sensor.

As shown in appended drawing reference 115, sensor can be based on expecting third synchronization signal, same with third to trigger Walk the associated sensor operations of signal.In other words, sensor can be opened before sensor receives third synchronization signal from ECU Begin to execute sensor operations.

In some embodiments, sensor can be touched based on the time point of sensor intended recipient third synchronization signal Send out sensor operations.For example, sensor, which can store, may have access to or otherwise determine, makes sensor execution sensor operations Required time quantum (for example, time quantum required for sensing data is sampled and calculated to sensor signal).Here, Third synchronization signal when is expected since sensor has identified, so sensor can determine triggering letter synchronous with third The time point of number associated sensor operations so that 3rd sensor data preparation receive fortunately third synchronization signal when Between point at or near transmit.Therefore, sensor can trigger and third synchronization signal before receiving third synchronization signal from ECU Associated sensor operations.The detailed example of this technology is described below with reference to Figure 1B.

As shown in appended drawing reference 120, sensor receives third synchronization signal from ECU.Here, since sensor is connecing Sensor operations associated with third synchronization signal are triggered before receiving third synchronization signal, so 3rd sensor number According to can be ready to transmit at or near the time point for receiving third synchronization signal.Therefore, it is such as shown by appended drawing reference 125 , sensor can provide 3rd sensor number with the delay (i.e. after receiving third synchronization signal almost immediately) of reduction According to.

Figure 1B is the schematic diagram of example technique described in further pictorial image 1A.For Figure 1B, sensor is had determined Synchronization signal associated sampling configuration is received (for example, next synchronous believing receiving given synchronization signal and receiving with from ECU Scheduled time amount between number).

As shown in appended drawing reference 130, sensor can expect the reception to synchronization signal X based on sampling configuration, And correspondingly trigger execution to sensor operations associated with synchronization signal X.For example, being based on sampling configuration, sensor can It is sensed with determination in order to make sensing data X be ready to transmit at or near the time point that sensor receives synchronization signal X Device will trigger the execution (such as determination to sensing data X) to sensor operations at time tSampleX.It should be noted that when Between tSampleX receive synchronization signal X in sensor before the time tSyncX that ECU sends synchronization signal X, and therefore Before time.As shown, sensing data X is ready to receive synchronization signal via sensor interface bus in sensor It is transmitted when X (such as after Rx SyncX), and sensor (such as after receiving synchronization signal X immediately) send sensing Device data X.As shown, in some embodiments, sensor, which can be configured as, implements time buffering, so as to for example really Sensing data X is protected to be ready to transmit before receiving synchronization signal X.

As shown in appended drawing reference 135, sensor can be expected (i.e. next to synchronization signal Y based on sampling configuration Synchronization signal) reception, and correspondingly trigger the execution to sensor operations associated with synchronization signal Y.As shown, Based on sampling configuration, sensor can postpone the execution triggered to sensor operations, until time tSampleY, to make to sense Device data Y is ready at or near the time point that sensor receives synchronization signal Y (such as be passed at time tSyncY by ECU After defeated) transmission.In this way, to the sampling of sensor signal and to the delay between the transmission of corresponding sensing data Amount is reduced.In addition, as shown, sensor determines that the period of sensing data Y and sensor send sensing data X Period it is overlapping.In other words, " next " sensing data can be determined when " current " sensing data is just sent, Allow improved sensor renewal rate, as described below.

Sensor can by it is described above be used for transmission sensing data Y in a manner of advance, and such as by appended drawing reference It, can be for expecting the similar side of synchronization signal Z and transmission sensing data Z associated with synchronization signal Z shown in 140 Formula is advanced.Additional detail about procedures described above is described below.

In this way it is possible to keep sensor synchronous with ECU via digital interface, at the same realize (for example, such as with retouch above The conventional synchronization technology stated is compared) improved sensor renewal rate.

In some embodiments, the utilization rate of sensor interface bus is improved, because reduce or eliminating to biography Sensor interface bus is used for transmission synchronization signal and transmits the use of corresponding sensing data.In addition, due to sensor interface Bus should can be used for closely or immediately follows being followed after the transmission to synchronization signal by the time point of sensor transmissions, so Sensor interface bus is more efficiently utilized.

Extraly, the time quantum between synchronous signal transmission and the corresponding sensing data of transmission is reduced, and can be subtracted Latent fault in few sensing system.

In addition, improving accessible sensor renewal rate using technology described herein.For example, by with above The mode of description expects synchronization signal and triggers the execution to sensor operations, eliminates associated with given cycle sensor Significant delays amount.Therefore, the rate that sensor completes the period for determining and sending sensing data is improved, and phase is thus promoted To high sensor renewal rate (for example, every 33 μ s mono- is completely transmitted, or more preferable).

As indicated above, Figure 1A and Figure 1B is merely provided as example.Other examples are possible and can not It is same as the content described about Figure 1A and Figure 1B.

Fig. 2 is the schematic diagram that the example context 200 of technology described herein and/or device wherein can be implemented.Such as Shown in Fig. 2, environment 200 may include one group of sensor 205-1 to 205-N (N >=1) (referred to herein, generally, as sensor 205, and And individually it is referred to as sensor 205), these sensors are via 215 (referred to herein as bus of sensor interface bus 215) it is connected to ECU 210.

Sensor 205 includes and is used to measure one or more characteristics (for example, the position of the speed of object, object, object Rotation angle, the amount of pressure, temperature, the amount of electric current etc.) sensor the associated shell of one or more components.As institute It shows, sensor 205 includes sensor device 220 and transceiver (Tx/Rx) 225.In some embodiments, sensor 205 It may include two or more sensor devices 220 and Tx/Rx 225 (that is, sensor 205 may include clusters of sensors).? In some embodiments, sensor 205 is connected far from ECU210, and therefore via bus 215 (such as via wired connection) To ECU 210.Additionally or alternatively, sensor 205 can be local sensor (for example, making sensor 205 via short company It connects and is connected to ECU 210, be integrated on identical chips etc. with ECU 210).

Sensor device 220 includes being able to carry out sensing function (for example, sampling sensor signal, to calculate and/or true Determine sensing data etc.) equipment.In some embodiments, as described in this article, sensor device 220 be able to carry out with Expectation will be by the associated operation of synchronization signal that ECU 210 is provided, and sensing is triggered based on the synchronization signal expected Function.In some embodiments, sensor device 220 may include one or more sensing elements, analog-digital converter (ADC), digital signal processor (DSP), memory member and realize to the execution of sensing function and/or realize with by feeling The digital interface of the expectation associated operation of synchronization signal of measurement equipment 220.

Transceiver 225 includes the portion that can be sent and received information via its equipment (for example, sensor 205, ECU 210) Part.For example, transceiver 225 may include the equipment of differential line transceiver or similar type.In some embodiments, it receives and dispatches Device 225 include allow sensor 205 via bus 215 by information (for example, sensing data, mark with expectation synchronization signal phase The information etc. of associated delay time) it is sent to transmission (Tx) component of ECU 210 and allows sensor 205 via bus 215 Reception (Rx) component of information (for example, synchronization signal) is received from ECU 210.In some embodiments, transceiver 225 can be with Including the line driver for enabling Tx component (send information) or Rx component (receive information) in given time.One In a little embodiments, sensor 205 can not include transceiver 225.For example, when sensor 205 is local sensor 205 And/or when the length connecting between sensor 205 and ECU 210 (such as with wherein sensor 205 is answering for distance sensor With comparing) it is relatively short when, sensor 205 can not include transceiver 225.

Bus 215 includes the sensor interface bus for the carry information between sensor 205 and ECU 210.One In a little embodiments, bus 215 may include be connected to via its sensor 205 ECU 210 connection (e.g., including one Or multiple electric wires and connector).In some embodiments, bus 215 may include one group of connection, each be connected to ECU 210 one or more sensors 205 are associated (for example, when multiple sensors 205 are connected via one or more buses 215 When to ECU 210).In some embodiments, signal can be carried to sensor 205 from ECU 210 by given connection And signal is carried to ECU 210 (for example, via identical electric wire or via different electric wires) from sensor 205.

ECU 210 includes controlling one with based on the sensing data provided by sensor 205 (such as control equipment) Or multiple electrical systems and/or the associated one or more equipment of electrical subsystem.As shown, ECU 210 can wrap Include transceiver 225 and controller (μ C) 230.In some embodiments, controller 230 can be based on by sensor 205 The sensing data of transmission, to be calibrated, be controlled to one or more electrical systems and/or electrical subsystem, adjusted.Example Such as, in some embodiments, controller 230 may include electronics/engine control module (ECM), the dynamic Control mould of vehicle Block (PCM), transmission control module (TCM), brake control module (BCM or EBCM), central control module (CCM), Central Timing Module (CTM), universal electric module (GEM), body control module (BCM), suspension control module (SCM) or other electrical systems System or electrical subsystem.In some embodiments, as described in this article, controller 230 may include and send, connects It receives, generate, providing and/or storage information is (for example, synchronization signal, sensing data, mark are associated with synchronization signal is expected The information etc. of delay time) associated one or more components.For example, controller 230 may include universal sensor interface Chip (USIC) component, one or more direct memory access (DMA) components, random access storage device (RAM) component, field are fixed To control (FOC) component, space vector PWM (SVPWM) component, PWM output block, universal input/output (GPIO) component, mould Formula memory member, pattern generator component etc..

As described above, transceiver 225 includes that can send out via its equipment (for example, sensor 205, ECU 210) Send and receive the component of information.In some embodiments, transceiver 225 includes allowing ECU 210 via bus 215 by information (for example, synchronization signal) is sent to the Tx component of sensor 205 and ECU 210 is allowed to receive via bus 215 from sensor 205 The Rx component of information (for example, information etc. of sensing data, mark delay time associated with synchronization signal is expected).One In a little embodiments, transceiver 225 may include for given time enable Tx component (send information) or Rx component (with Receive information) line driver.

The quantity and arrangement of device shown in Figure 2 are provided as example.In practice, may exist additional equipment And/or component, less equipment and/or component, different equipment and/or component or with it is shown in Figure 2 those differently The equipment and/or component of arrangement.For example, in some embodiments, environment 200 may include multiple sensors 205, Mei Gechuan Sensor is connected to ECU 210 via one or more associated buses 215.In addition, it is shown in Figure 2 two or more Equipment and/or component may be implemented in individual equipment and/or component or individual equipment shown in Figure 2 and/or single Component may be implemented as multiple distributed apparatus and/or component.Additionally or alternatively, the one group of equipment and/or component of Fig. 2 (for example, one or more equipment and/or component), which can execute, to be described as being executed by another group of equipment and/or component of Fig. 2 One or more functions.

Fig. 3 be for based on receive the associated sampling configuration of synchronization signal, trigger and upcoming synchronous believe The flow chart of the instantiation procedure 300 of number associated sensor operations.In some embodiments, one or more mistakes of Fig. 3 Journey frame can be executed by sensor 205.

As shown in figure 3, process 300 may include the synchronization signal that is received based on one group to determine sampling configuration (frame 310).For example, sensor 205 can determine sampling configuration based on the one group of synchronization signal received from ECU 210.

Sampling configuration may include the mould identified receiving the scheduled time amount between the synchronization signal provided by ECU 210 Formula.For example, sampling configuration, which can identify, is receiving the scheduled time amount between given synchronization signal and next synchronization signal (when same When step signal is expected to be with aturegularaintervals).As another example, sampling configuration can be identified connects to the first synchronization signal Receive and between the reception of the second synchronization signal the first scheduled time amount, to the second synchronization signal reception with it is same to third The second scheduled time between the reception of step signal measures and in the reception to third synchronization signal and to the 4th synchronization signal Third scheduled time amount between reception is (for example, when synchronization signal is expected to be in the repetitive sequence in three different intervals When).In some embodiments, sampling configuration can define and receive the synchronization signal associated synchronous period (for example, connecing Receive the time span between given pair of synchronization signal).

In some embodiments, sensor 205 can determine sampling configuration based on one group of synchronization signal is received.Example Such as, sensor 205 can receive the first synchronization signal at the first time, receive the second synchronization signal at the second time, and And third synchronization signal is received at the third time.Here, sampling configuration can be determined as the third time and the by sensor 205 Average (such as weighted average) of the time difference between time difference and the second time and first time between two times.Additionally Or alternatively, sensor 205 can be determined based on (such as repetition) mode of the time difference between of mark synchronization signal Sampling configuration.

In some embodiments, sensor 205 can be updated and/or be modified based on additional synchronization signal is received Sampling configuration.Continue example described above, sensor 205 sampling configuration can be determined as third time and the second time it Between time difference and the second time and first time between time difference weighted average (for example, the wherein third time and second Time difference between time weights more than time poor reception between the second time and first time).Here, in the 4th (example After such as later) receiving the 4th synchronization signal at the time, sensor 205 can be by determining between the 4th time and third time Time difference, time difference between time difference and the second time and first time between third time and the second time plus Weight average come update sampling configuration (for example, wherein the time difference between the 4th time and third time than the third time and second The more weights of time poor reception between time difference and the second time and first time between time).

In some embodiments, sensor 205 can determine sampling configuration when for example sensor 205 power on, start, Resetting etc..For example, after power-up, sensor 205 can receive the first synchronization signal, associated sensor operations are executed, And provide first sensor data.Sensor 205 can receive the second synchronization signal, execute associated sensor operations, And provide second sensor data.In this example, sensor 205 can be (for example, related with the second synchronization signal to executing The sensor operations of connection are simultaneously) time based on the second synchronization signal of time and reception for receiving the first synchronization signal, to determine Sampling configuration.As another example, after power-up, sensor 205 can execute first sensor operation to determine first Sensing data executes second sensor operation to determine second sensor data, receives the first synchronization signal, and provides the One sensing data.Later, sensor 205 can receive the second synchronization signal, and provide second sensor data.In the example In, sensor 205 can determine sampling based on the time for the second synchronization signal of time and reception for receiving the first synchronization signal Mode.

As described below, it is based on sampling configuration, sensor 205 can be identified for receiving the pre- of third synchronization signal Sensor operations associated with third synchronization signal simultaneously (for example, before receiving third synchronization signal) are triggered between timing.? In some embodiments, after receiving third synchronization signal, sensor 205 can be based on the time for receiving third synchronization signal To be updated, modify to sampling configuration, recalculate.

In some embodiments, sampling configuration can be used for identifying for receiving the estimated of upcoming synchronization signal Time (for example, sensor 205 is it is anticipated that receive the time of upcoming synchronization signal).For example, sensor 205 can be with base In sampling configuration and receives the time of previously (for example, nearest) synchronization signal and identify the scheduled time.As a specific example, If sensor 205 receives synchronization signal at specific time, sensor 205 can be by will be identified by sampling configuration The time quantum received between synchronization signal is added with the specific time for receiving synchronization signal, to determine and upcoming (example It is such as next) the synchronization signal associated scheduled time.Here, the time quantum identified by sampling configuration and synchronization signal will be received The result that is added of specific time can identify scheduled time of upcoming synchronization signal.

In some embodiments, the format of signal (for example, synchronization signal, the signal for carrying particular address etc.) can be permitted Perhaps signal only carries the information of mark address (for example, broadcast address, address associated with particular sensor 205 etc.).For example, The format of signal can permit signal and carry the value (for example, 8 place values) for indicating address.Alternatively, the format of signal can permit Signal carries mark address and one or more other information items (for example, read/write label, one group of cyclic redundancy check (CRC) position Deng) information.In some embodiments, the format of signal can depend on the ability of ECU 210 (for example, depending on ECU Whether 210 USIC is triggered on can breaking within hardware).It describes below with reference to Fig. 9 A and Fig. 9 B about possible signal format Additional detail.

As further shown in Fig. 3, process 300 may include triggered based on sampling configuration with it is upcoming synchronous The associated sensor operations of signal (frame 320).For example, sensor 205 can be triggered based on sampling configuration at hand The associated sensor operations of synchronization signal.In some embodiments, sensor operations for example may include to sensor Signal is sampled, and is calculated sensing data based on being sampled to sensor signal and (hereinafter collectively referred to as determined Sensing data).

In some embodiments, sensor 205 can be based on for receiving will arriving of identifying based on sampling configuration The scheduled time for the synchronization signal come, to trigger sensor operations associated with upcoming synchronization signal.For example, sensing Device 205, which can store, may have access to or determine, makes sensor 205 execute time quantum required for sensor operations (for example, to sensing Device signal is sampled and is calculated time quantum required for sensing data).As a specific example, in some embodiments, Sensor 205 can based on to the associated time quantum of the different cycles of sensor operations executed by sensor 205 be averaging, To determine that sensor 205 executes time quantum required for sensor operations.In some embodiments, sensor 205 is executed Time quantum required for sensor operations can be each cycle sensor relatively uniform (for example, making sensor 205 It can store the information of identified time amount and reuse the information).

Continue example above, sensor 205 can be determined based on sampling configuration for receiving upcoming synchronous letter Number scheduled time.Here, time quantum required for sensor operations is executed based on sensor 205 and is used to receive at hand Synchronization signal scheduled time, sensor 205 can determine sensor 205 should triggering to it is upcoming it is synchronous believe The time quantum of (for example, delay time) is waited before the execution of number associated sensor operations.In some embodiments, prolong The slow time can be sensor 205 in completion (for example, associated with previously received synchronization signal) sensor operations After a cycle, starting sensor operations another period before the time quantum to be waited.In some embodiments, it passes Sensor 205 can be configured as determining delay time, so that sensing data associated with upcoming synchronization signal is quasi- It gets ready and is transmitted (before such as) at or near the time of the upcoming synchronization signal of 205 intended recipient of sensor.Some In embodiment, as indicated in the frame 315 of Fig. 3, sensor 205 can be before triggering be to the execution of sensor operations etc. Time quantum to be identified by delay time.

In some embodiments, sensor 205 can be configured as implement delay time in time buffering (for example, Additional time quantum), to ensure that sensing data associated with upcoming synchronization signal is ready in synchronization signal Transmission before (for example, to prevent timing error, prevents the late transmission of sensing data, improves the utilization to bus 215 Deng).In some embodiments, sensor 205 can be configured as automatic adjustment delay time to ensure that the time buffers quilt It provides, as below with reference to described in Fig. 5 and Fig. 6.

In this way, sensor 205 is anticipated that upcoming sensor signal, and upcoming receiving The execution to sensor operations associated with upcoming synchronization signal is triggered before synchronization signal.

As further shown in Fig. 3, process 300 may include sending after receiving upcoming synchronization signal Sensing data (frame 325) associated with sensor operations.For example, can receive in sensor 205 will for sensor 205 After the synchronization signal of arrival (for example, after sensor 205 is completed to the execution of sensor operations), sends and grasped with sensor Make associated sensing data.In some embodiments, sensing data may include: mark with it is upcoming synchronous The information of the associated real time buffering of signal, it is such as described elsewhere herein.In some embodiments, it senses Device 205 can it is overlapping in the period at least partly waiting another upcoming synchronization signal with sensor 205 (i.e. and its During period simultaneously), sensing data associated with upcoming synchronization signal is sent.

In some embodiments, as indicated in Figure 3, and expect additional (for example, later) synchronization signal phase Associatedly, process 300 can be repeated.

In some embodiments, multiple sensors 205 can be configured as: so that multiple sensors are roughly the same The synchronous mode that time samples their own sensor signal operates.For example, sensor 205-1 and sensor 205-2 can receive the first synchronization signal (such as broadcast singal) provided by ECU210.Here, sensor 205-1 can be with First sensor 205-1 data (for example, previously determined sensing data) is provided based on the first synchronization signal, and is sensed Device 205-2 can be mentioned based on another signal (for example, the follow-up signal for being addressed to sensor 205-2) provided by ECU 210 For first sensor 205-2 data (for example, previously determined sensing data).Next, sensor 205-1 and sensor 205-2 can receive the second synchronization signal (for example, second broadcast singal) provided by ECU 210.Here, sensor 205- 1 can be provided second sensor 205-1 data (for example, previously determined sensing data) based on the second synchronization signal, and And sensor 205-2 can provide second based on another signal (for example, another follow-up signal for being addressed to sensor 205-2) Sensor 205-2 data (for example, previously determined sensing data).

In this example, as described above, sensor 205-1 and sensor 205-2 can both determine sampling Mode, and the scheduled time for receiving upcoming synchronization signal can be determined based on sampling configuration.Here, it is based on For receiving the scheduled time of upcoming synchronization signal, multiple sensors 205 can triggering to it is upcoming Delay time is determined before the execution of the associated respective sensor operations of synchronization signal.For example, as described above, often A sensor 205 can determine sensor number based on the scheduled time for receiving upcoming signal and by sensor 205 The time of execution of the triggering to sensor operations is identified according to required time quantum.As another example, each sensor 205 It can be come based on the scheduled time for receiving upcoming signal and the synchronous timing information configured on sensor 205 Time of the mark triggering to the execution of sensor operations.Here, synchronous timing information can be identified and be sensed before the scheduled time Device 205 will trigger the time point of the execution to sensor operations (for example, from the scheduled time to biasing triggering to sensor operations The time quantum of execution).

In some embodiments, can cause to be directed to i.e. to determining by the delay time that multiple sensors 205 determine By the sampling of the associated respective sensor signal of the sensing data of the sensor signal of arrival multiple sensors 205 it Between synchronous (that is, being performed at the roughly the same time).For example, being determined needed for sensing data when as each sensor 205 The time quantum wanted match (such as in such as threshold amount of time of about 1 μ s) when, the sampling of respective signal is combined true Surely it is synchronized between sensor 205 (that is, in the roughly the same time for the sensing data of upcoming sensor signal Place is performed).As another example, when configuring identical synchronous timing information on each sensor 205 (for example, mark is inclined Set the information of the same time amount of triggering) when, the sampling of respective signal is combined and is determined for upcoming sensor letter Number sensing data can be synchronized between sensor 205.Below with reference to the detailed example of Fig. 8 detailed description simultaneously operating.

In some embodiments, synchronous mode can use one group of synchronous enabling signal (quilt herein by ECU 210 Referred to as synchronous enabling signal) Lai Qidong.For example, ECU 210 can send this group of synchronization signal, and sensor 205 can be by It is configured to receive this group of synchronization signal and start to be operated in a synchronous mode (that is, this group of synchronization signal can trigger sensing The synchronous mode of device 205 operates).In some embodiments, this group of synchronization signal may include the synchronization character for being followed by extension The synchronous averaging of section interrupts.In some embodiments, synchronous averaging interruption may include that indication sensor 205 " will listen " extension Sync byte multidigit (for example, 13) dominant dwarfing gene (for example, expression value 0).In some embodiments, the synchronization of extension Byte may include for by the byte synchronous with master clock of sensor 205 (for example, have value 1010101).In some implementations In mode, ECU 210 can provide synchronization signal after providing this group of synchronous enabling signal.In some embodiments, ECU 210 can start synchronous mode during startup stage associated with sensing system.Additionally or alternatively, ECU210 can To start synchronous mode after the start up period, (for example, if synchronous during operation lose, ECU 210 can pass through hair Another group of synchronous enabling signal is sent to restart synchronous mode).

Although Fig. 3 shows the example frame of process 300, in some embodiments, process 300 may include additional Frame, less frame, different frames or with those of describe the frame that is arranged differently in Fig. 3.Additionally or alternatively, process Two or more in 300 frame can be executed in parallel.

Fig. 4 is the schematic diagram of example embodiment 400 associated with instantiation procedure 300 shown in Fig. 3.For example Embodiment 400, sensor 205 have been based on previously received synchronization signal and identify following sampling configuration, the sampling mould Formula mark is receiving the time quantum between given pair of the synchronization signal provided by ECU210.

As shown in the lower part of 205 task scheduler of sensor of Fig. 4, sensor 205 is had been based on according to adopting Original mold formula expects the reception to synchronization signal X and triggers the execution to sensor operations (CalcX), sensor operations and same It is associated to walk signal X.As shown in the ECU210 task scheduler, ECU 210 has had begun determining biography in sensor 205 Synchronization signal X (SyncX) is sent after sensor data X.As representing 215 call duration time of bus, sensor 205 is via total Line 215 receives synchronization signal X.

As the lower part as 205 task scheduler of sensor further shown in, sensing data X connects in sensor 205 It is ready to before receiving synchronization signal X.Therefore, such as by 215 communication schedule of upper part and bus of 205 task scheduler of sensor It shows, sensor 205 sends sensing data X immediately after receiving synchronization signal X (TransX).Such as appointed by ECU 210 Business timetable is further shown, and ECU 210 can just in receiving sensor data X and be executed related to sensing data X One or more operations (for example, pretreatment, field oriented control (FOC) calculating, space vector PWM (SVPWM) etc.) of connection.

As the lower part as Sensor Task timetable further shown in, sensor 205 can based on the sampling interval come Expect synchronization signal Y (that is, next synchronization signal), and can be triggered before receiving synchronization signal Y and synchronization signal Y (example Such as, SampleY and CalcY) associated sensor operations.As shown, sensor 205 can be in triggering and synchronization signal Special time amount (for example, delay time) is waited before the associated sensor operations of Y, so that sensing data Y is ready to Sensor 205 transmits before receiving synchronization signal Y.Sensor 205 and ECU 210 can in a manner similar to that described above before Into to allow ECU 210 receiving sensor data Y and sensing data Z (for example, associated with subsequent synchronisation signal).

In some embodiments, as described below, the adjustable delay time of sensor 205 so as to implement with really The given item for protecting associated with the synchronization signal expected sensing data is ready to receive in sensor 205 and expect The time tranfer of synchronization signal.

As indicated above, Fig. 4 is merely provided as example.Other examples be it is possible and can be different from about The content of Fig. 4 description.

Fig. 5 is for being selectively adjusted for triggering sensor operations associated with upcoming synchronization signal The flow chart of the instantiation procedure 500 of delay time.In some embodiments, one or more process frames of Fig. 5 can be by passing Sensor 205 executes.

As shown in figure 5, process 500 may include preparing in sensing data associated with upcoming synchronization signal Start counter (frame 510) when transmitting well.For example, sensor 205 can be in biography associated with upcoming synchronization signal Sensor DSR starts counter when transmitting.

In some embodiments, sensor 205 can be determined in sensor 205 for upcoming synchronization signal Start counter when sensing data.For example, with reference to Fig. 4, sensor 205 can sensor 205 it is determining with it is upcoming Start counter when the associated sensing data X of synchronization signal X (for example, sensor 205 can receive together in sensor 205 Device is started counting at the end of the CalcX frame on the lower part of 205 task scheduler of sensor before step signal X).

As further shown in Fig. 5, process 500 may include stopping meter when receiving upcoming synchronization signal Number device (frame 520).For example, sensor 205 can stop counter when receiving upcoming synchronization signal.

In some embodiments, sensor 205 can stop when sensor 205 receives upcoming synchronization signal Only counter.For example, sensor 205 can stop meter when sensor 205 receives synchronization signal X from ECU 210 with reference to Fig. 4 Number device (for example, sensor 205 stops counter when can be at the end of the synchronization X frame on 215 communication schedule of bus).

As further shown in Fig. 5, process 500 can include determining that counter value whether with the object time buffer phase It matches (frame 530).For example, sensor 205 can determine whether the value of counter matches with object time buffering.

The value of counter indicates: sensing data associated with synchronization signal gets out the time of transmission and passes with sending The time quantum between time that the associated synchronization signal of sensor data is received.In other words, the value of counter indicates completion pair Real time buffering between the time of the determination of sensing data and sensing data time to be sent.

Object time buffering mark will be buffered by the object time that sensor 205 is implemented, for example to ensure and will to arrive The associated sensing data of synchronization signal come be ready to before synchronization signal transmission (for example, to prevent timing error, The late transmission of sensing data is prevented, utilizing to bus 215 is improved).In some embodiments, sensor 205 can To store or may have access to the information for identifying object time buffering (for example, object time buffering can be configured in sensor On 205).

In some embodiments, sensor 205 can be compared based on the value of counter and object time is buffered, To determine whether the value (that is, the real time buffers) of counter matches with object time buffering.For example, if sensor 205 Determine counter value and the object time buffering differ (for example, being less than or greater than) be more than threshold quantity (for example, 0.2 μ s, 0.5 μ s, 2 μ s etc.) time quantum, then sensor 205 can determine that the value of counter is not matched that with object time buffering.Show as another Example passes if sensor 205 determines that the value of counter differs the time quantum less than or equal to threshold quantity with object time buffering Sensor 205 can determine that the value of counter matches with object time buffering.

As further shown in Fig. 5, process 500 may include the value based on counter whether with the object time buffer phase Matching, to be selectively adjusted the delay time (frame 540) for triggering sensor operations associated with another synchronization signal. For example, sensor 205 can the value based on counter whether with the object time buffering match, to be selectively adjusted for touching Send out the delay time of sensor operations associated with another synchronization signal.

In some embodiments, when the value of counter and object time buffering match, it is selectively adjusted delay Time may include inhibiting to adjust delay time.For example, if sensor 205 determines that the value of counter buffers phase with the object time Matching then may not be needed delay time to be adjusted (for example, because object time buffering is real via sensor 205 It applies).

In some embodiments, it when the value of counter and object time buffering do not match that, is selectively adjusted and prolongs The slow time may include: that the sensor increased or decreased with triggering for another synchronization signal (for example, next synchronization signal) is grasped Make associated delay time.For example, do not matched that if sensor 205 determines that the value of counter is buffered with the object time, and And the value of counter is less than object time buffering (that is, real time buffering buffers short amount more than threshold quantity than the object time), Then sensor 205 can adjust delay time by reducing delay time.Here, by reducing delay time, sensor 205 So that sensor operations associated with another synchronization signal is triggered at the time relatively early, causes in sensor 205 Send relatively long real time buffering when sensing data associated with another synchronization signal.

As another example, it if sensor 205 determines that the value of counter is not matched that with object time buffering, and counts The value of number device is greater than object time buffering (that is, real time buffering buffers long amount more than threshold quantity than the object time), then passes Sensor 205 can adjust delay time by increasing delay time.Here, by increase delay time, sensor 205 make with Another associated sensor operations of synchronization signal are triggered at the time relatively late, cause to send in sensor 205 Relatively short real time buffering when sensing data associated with another synchronization signal.

In some embodiments, the adjustable delay time of sensor 205 is associated with another synchronization signal to make Real time buffering with the object time buffer match.For example, the amount that sensor 205 adjusts delay time can be and be counted Poor corresponding time quantum between the real time buffering of calculation and the object time buffering configured on sensor 205.As Another example, sensor 205 can will adjust specific quantity delay time (for example, the increment configured on sensor 205, small Difference between real time calculated buffering and object time buffering).

In this way, adjust delay time to 205 property of can choose of sensor, so as to ensure with it is upcoming synchronous The associated sensing data of signal is ready to transmit before synchronization signal, without introduce to sensor operations execution with To the undesirable amount of delay between the transmission of corresponding sensing data.

In some embodiments, sensor 205 can send the information of mark Counter Value (for example, when mark is practical Between the information of length that buffers).For example, sensor 205 can in addition to sending sensing data associated with given synchronization signal The information of mark Counter Value is sent with (for example, in identical data output frame).In some embodiments, counter is identified The information of value can be used by ECU 210, to improve the accuracy of sensing system for example, by reducing delay time shake.

Although Fig. 5 shows the example frame of process 500, in some embodiments, process 500 may include adding Frame, less frame, different frames or with those of describe the frame that is arranged differently in Fig. 5.Additionally or alternatively, process Two or more in 500 frame can be executed in parallel.

Fig. 6 is the schematic diagram of example embodiment 600 associated with the instantiation procedure 500 of Fig. 5.In some embodiments In, example embodiment 600 may be implemented within the one or more components being contained in above-described sensor device 220 or In equipment.

As shown in fig. 6, component 605 (for example, setting resetting (SR) component) can receive instruction with it is upcoming synchronous The associated sensing data of signal gets out the instruction 650 of transmission.As further shown, the output of component 605 is provided To the component 610 (for example, with door) for also receiving clock 655.Here, counter 615 is in response to instruction 650 based on component 605 It exports and starts, wherein counter 615 is based on clock 655 and starts counting.

As further shown, component 605 can (for example, in later time) receive instruction it is related to sensing data The instruction 650 that the upcoming synchronization signal of connection has been received via sensor 205.Here, the output response of component 605 in Indicate 660 outputs for changing component 610.Here, the output of the change based on component 610, counter 615 stop counting.

As further shown, after the stopping of counter 615,615 output identification of counter stops counting in counter 615 The Counter Value 665 of the value of counter 615 when number.As shown, counter 615 can provide Counter Value 665 to portion Part 620 (for example, first comparator) and component 625 (for example, second comparator).In this example, component 620 is configured as really It is more than threshold quantity that whether counter value 665, which is greater than object time buffering 670, and component 625 is configured to determine that counter It is more than threshold quantity that whether value 665, which is less than object time buffering 670,.As further shown, in some embodiments, counter 615 can provide Counter Value 665 to be used to export together with sensing data, as described above.

Continue the example, if it is more than threshold quantity that component 620, which determines that Counter Value 665 is greater than object time buffering 670, Component 620 can be provided to delay unit 630 to be made to be combined by delay unit 630 for another (for example, next) synchronization signal The delay time that sensor operations are implemented is increased the output of (for example, increment tDelay++).On the contrary, if component 620 determines Counter Value 665 is no more than object time buffering 670, then component 620 can not provide such output.

Similarly, if it is more than threshold quantity, component that component 625, which determines that Counter Value 665 is less than object time buffering 670, 625 can provide the output for making delay time be reduced (for example, increment tDelay--) to delay unit 630.On the contrary, if portion Part 625 determines Counter Value 665 not less than object time buffering 670, then component 625 can not provide such output.

Here, delay unit 630 according to the delay time being stored on delay unit 630 make the triggering of sensor 205 with it is another The associated sensor operations of one synchronization signal.In some embodiments, as needed, above procedure can be repeated multiple (such as continuous) period is to continue to adjust delay time.

As indicated above, Fig. 6 is provided as example.Other examples are possible and can be different from about figure The content of 6 descriptions.

Fig. 7 is schematic diagram associated with the sample application 700 of sensing system described herein.As shown in fig. 7, this The sensing system of described in the text may be implemented in Motor control Application.For example, for the reason of the above description, in this way Application in, ECU can be separated with motor.Therefore, sensor is (for example, shaft end rotor-position sensor or axis outer rotor position Sensor) it can not be embedded in ECU or be positioned near ECU.

In this case, sensor can be synchronous with ECU via digital interface, and at the same time using described herein Technology realize (for example, compared with conventional synchronization technology) improved sensor renewal rate.

As indicated above, Fig. 7 is provided as example.Other examples are possible and can be different from about figure The content of 7 descriptions.

Fig. 8 be with as above with reference to the associated example embodiment 800 of synchronous mode of operation described in instantiation procedure 300 Schematic diagram.As described above, for example embodiment 800, sensor 205-1 and sensor 205-2 are from ECU 210 have received one group of synchronous enabling signal associated with starting synchronous mode of operation.In addition, for example with starting sensor system It unites during associated startup stage, sensor 205-1 has determined that the first data and the second data (for example, dividing in fig. 8 The n-1 that is not identified as in the Sensor Task timetable of first sensor 205-1 and n), and sensor 205-2 is true The first data and the second data have been determined (for example, when being respectively identified as the Sensor Task of second sensor 205-2 in fig. 8 Between m-1 in table and m).

In addition in example 800, the broadcast address and read address that address 0 × 000 is configured as on sensor 205-1, And address 0 × 000 is configured as the broadcast address on sensor 205-2, and address 0 × 001 is configured as sensor 205-2 On reading address.

As shown in figure 8, ECU 210 can send synchronization signal 1 (e.g., including address 0 × 000) first.As further It shows, sensor 205-1 can provide sensor 205-1 (for example, n-1) after sensor 205-1 receives synchronization signal 1 First sensor data (for example, because address 0 × 000 be sensor 205-1 reading address).As further shown, First sensor data in sensor 205-1 are received by ECU 210 or are sent at least through bus 215 (for example, as in Fig. 8 It is discribed) after, ECU 210 can send another signal (e.g., including the address signal 1 of address 0 × 001).As shown Out, sensor 205-2 can provide sensor 205-2 (for example, m-1) after sensor 205-2 receives another signal First sensor data (for example, because address 0 × 001 is the reading address of sensor 205-2).

As further shown, after ECU 210 receives first sensor 205-2 data by bus 215, ECU 210 can send synchronization signal 2 (e.g., including address 0 × 000).As shown, sensor 205-1 can be in sensor 205-1 provides second data of sensor 205-1 (for example, n) (for example, because address 0 × 001 is after receiving synchronization signal 2 The reading address of sensor 205-1).As further shown, it is connect in the second data of sensor 205-1 data by ECU 210 After receipts, ECU 210 can send another signal (e.g., including the address signal 2 of address 0 × 001).As shown, it passes Sensor 205-2 can provide second data of sensor 205-2 (for example, m) after sensor 205-2 receives another signal (for example, because address 0 × 001 is the reading address of sensor 205-2).

In this example, sensor 205-1 and sensor 205-2 both can be (for example, in the manner described above) Sampling configuration is determined based on the first synchronization signal and the second synchronization signal, and can be determined based on sampling configuration for connecing Receive the scheduled time of upcoming synchronization signal (for example, synchronization signal 3).Here, based on upcoming same for receiving The scheduled time of signal is walked, sensor 205-1 and 205-2 can be in triggerings to associated with upcoming synchronization signal each From sensor operations execution before determine delay time (for example, third data and sensing to determine sensor 205-1 The third data of device 205-2 sensor, are respectively identified as n+1 and m+1 in fig. 8).

In some embodiments, as shown in figure 8, delay time (for example, be identified as t in fig. 8_S1DelayWith t_S2Delay) can be determined, so that the sampling to respective sensor signal associated with respective sensor operations are executed It is performed at sensor 205-1 and sensor 205-2 simultaneously.For example, when being determined needed for sensing data as sensor 205-1 The time quantum wanted with determine that time quantum matches required for sensing data (for example, in such as about 1 μ as sensor 205-2 In the threshold amount of time of s) when, delay time can be defined such that the sampling to respective sensor signal roughly the same Time is performed.Therefore, as further shown in Fig. 8, sensor 205-1 and sensor 205-2 can be based on delay time To trigger to (for example, associated with 3rd sensor 205-1 data and 3rd sensor 205-2 data are determined respectively) respectively Sensor operations execution.

As further shown, ECU 210 can by bus 215 send synchronization signal 3 (e.g., including address 0 × 000).As shown, sensor 205-1 can be after sensor 205-1 receives synchronization signal 3 (for example, due to address 0 × 000 is the reading address of sensor 205-1) the third data (for example, n+1) of sensor 205-1 are provided.As further illustrated , sensor 205-1 third data by ECU 210 receive after, ECU 210 can send another signal (e.g., including The address signal 3 of address 0 × 001).As shown, sensor 205-2 can be after sensor 205-2 receives the signal The third data (for example, m+1) of sensor 205-2 are provided (for example, because address 0 × 001 is the reading of sensor 205-2 Location).In this way, the sampling of sensor signal can be synchronized between multiple sensors 205 (for example, making from every The sensing data of a sensor 205 has identical time stamp, even if sensing data is connect in different times by ECU 210 Receive), it can be improved based on the sensing data provided by sensor 205 to one or more electrical systems and/or electrical The control of subsystem.

As indicated above, Fig. 8 is provided as example.Other examples are possible and can be different from about figure The content of 8 descriptions.

Fig. 9 A and Fig. 9 B are for can be by the format sample of the ECU 210 as described in this article signal provided respectively 900 and 950 schematic diagram.

As shown in Figure 9 A, in some embodiments, signal (for example, synchronization signal, signal for carrying particular address etc.) It can be formatted to include start bit, a group address position (for example, being identified as an A0 in figure 9 a to A7) and stop position. Therefore, in some embodiments, signal format can permit signal and only carry the information of mark address (for example, with multiple The associated broadcast address of sensor 205, address associated with particular sensor 205 etc.).In some embodiments, scheme Signal format shown in 9A can not be believed in the component of ECU 210 associated with generating or providing signal by hardware Number come when triggering (that is, when USIC transmission can not no software interactive cause delay jitter in the case where be triggered using signal When) for time-critical transmission (such as synchronization signal).

It should be noted that format sample 900 supports the bit combination of limited quantity.In some embodiments, with format sample 900 Corresponding pulse can be read as with a T for being followed by expression stop position_Bit(n+1) T of high time_BitThe low time The single pulse of length, wherein being constant according to the total length of the pulse of format 900.

T_BitIndicate the length (for example, 1/ baud rate) of single position, and n indicates address.In some embodiments, make It can be generated by UART transmitter, PWM component etc. with the signal of relatively simple format sample 900.

In some embodiments, available address pattern can be used for from sensor 205 when using format sample 900 Read data.It in some embodiments, can be by being followed by writing for parameter data type to the data downloading of sensor 205 Access is to establish.

As shown in Figure 9 B, in some embodiments, signal can be formatted to include start bit, read/write (example Such as, be identified as the position catalogue (dir) in figures 9 b and 9), a group address position is (for example, be identified as an A0 to A3), one in figures 9 b and 9 Group CRC bit (for example, be identified as a CRC0 to CRC2) and stop position in figures 9 b and 9.In some embodiments, in Fig. 9 B The signal format shown can be touched in the component of ECU 210 associated with generating or providing signal by hardware signal For time-critical transmission (for example, synchronization signal) when hair (that is, when USIC transmission is triggerable).

As indicated above, Fig. 9 A and Fig. 9 B are provided as example.Other examples are possible and can be different In the content described about Fig. 9 A and Fig. 9 B.

In some embodiments, above-described height sensors interface, which can be used, has by specific bus system mark The certainly bus system of adopted physical layer.For example, height sensors interface can be used as the quilt described in iso standard 17987 3 line of local interconnection network (LIN) for being designed as providing the data transmission rate between 1 and 20 kilobits per seconds (kBit/s) connects Mouthful.As another example, height sensors interface can be used as being designed to provide described in iso standard 11898-3 Fault-tolerant controller Local Area Network (CAN) bus of the data transmission rate of 125kBit/s.As another example, height sensors connect Mouth can be used as passed as the data for being designed to provide up to 1 megabits per second (MBit/s) described in iso standard 11898-2 The CAN bus of defeated rate.As another example, height sensors interface can be used as being set described in iso standard 11898-5 It is calculated as providing the CAN bus for the data transmission rate for being up to 5MBit/s.As another example, height sensors interface can be used As being designed to provide the FlexRay bus for the data transmission rate for being up to 10MBit/s described in iso standard 7458-4.

Additionally or alternatively, above-described height sensors interface can provide and given bus system standard (example Such as, LIN, CAN (ISO 11898-5), FlexRay etc.) associated other one or more abilities.For example, height sensors Interface can provide wake-up ability to sensor 205 and/or ECU 210.Wake-up ability allows given sensor 205 and/or ECU 210 operations in sleep pattern (i.e. low-power mode), until starting normal operating by " wake-up ".In some embodiments In, in order to provide wake-up ability, given sensor 205 and/or ECU 210 can be directly connected to battery.In some embodiment party In formula, given sensor 205 and/or ECU 210 can be based on being called out via the signal that bus 215 (i.e. bus wake-up) provides It wakes up.For example, given sensor 205 and/or ECU 210 can based on receive in bus 215 have such as by it is applicable always Line standard description specific format signal and wake up.

In some embodiments, wake-up signal can be such that each sensor 205 and/or ECU210 wakes up (for example, when every A sensor 205 and ECU 210 are configured as based on the signal for detecting same format and when waking up).In other words, in some realities It applies in mode, wake-up ability can not be selectable wake-up ability.Additionally or alternatively, wake-up signal can make specific biography Sensor 205 and/or ECU 210 wake up (for example, when sensor 205 and ECU 210 are configured as being based on detecting different-format Signal and when waking up).In other words, in some embodiments, wake-up ability can be selectable wake-up ability (for example, As described in the ISO 11898-6 for CAN bus).

In any case, when detecting the signal with suitable format, the sensor 205 in bus 215 and/or Two ECU 210 can wake up since sleep pattern and operate.In some embodiments, the advantages of wake-up ability, is, Given sensor 205 and/or ECU210 can immediately begin to operation (for example, compared with starting operation after being powered down).Separately One the advantage is that the quantity of the pin used on given ECU 210 can be reduced (for example, because having the biography of wake-up ability Sensor 205 does not need to be supplied by ECU 210, because there is the ECU 210 of wake-up ability not need sensor supply pin).In addition, Wake-up ability can reduce the magnitude of current consumed in sleep pattern by giving sensor 205 and/or ECU 210, and/or can be with Increase given sensor 205 and/or the lifetime of ECU 210.

As another example, height sensors interface, which can use multiple ECU and provide in sensing system, only listens ability (for example, according to bus system standard of LIN, CAN (ISO 11898-6), FlexRay etc.).Figure 10 be include only listening ECU Example context 1000 schematic diagram.As shown in Figure 10, in some embodiments, ECU is only listened to may be coupled to bus 215 (for example, other than ECU 210).In some embodiments, ECU is only listened to can be configured as to the transmission in bus 215 Carry out " listening " and can be configured as inhibition that transmission is sent in bus 215.Therefore, in some embodiments, ECU is only listened (for example, being provided by sensor 205 based on the signal provided by ECU 210) sensing data can be received without sending out Send any signal in bus 215.Here, the delay receiving sensor data for only listening ability to allow to listen ECU only with reduction.Also To say, only listen ECU the time identical with ECU210 and with quality identical with ECU 210 from sensor (for example, sensor 205-1 to sensor 205-N) receives data.When sensing data is led to from ECU 210 by another means of communication (not shown) Believe that such transmission will be postponed compared with only listening mode when only listening ECU.It should be understood that only listening ECU can be even in ECU 210 no longer work normally in the case where also receiving sensor data.

In some embodiments, ability is only listened to provide the functional safety feature in sensing system.For example, only listening ECU Can in terms of reducing delay associated with only listening at ECU receiving sensor data (as described above) offer function Security feature (for example, allow time-critical information in real time or near real-time be received).As another example, it only listens ECU can by ECU 210 undergo it is wrong, disabled, lose electric power etc. in the case wheres be used as backup or failure transfer and mention For functional safety feature.As another example, only listen ECU can by monitoring sensing system in sensor 205 and/or The operation of ECU 210 provides functional safety feature.

Some embodiments described herein are provided for for making sensor (such as remote sensing via digital interface Device) device synchronous with ECU technology, while realizing that (for example, such as compared with above-described conventional synchronization technology) is improved Sensor renewal rate.In some embodiments, as described in further detail below, such improved synchronize can lead to It crosses and is realized based on for the triggering technique sensors configured for expecting the self-regulation of upcoming synchronization signal.

Foregoing disclosure provide diagram and description, but be not intended to be exhaustive or be not intended to by embodiment be limited to disclosure Precise forms.In view of foregoing disclosure or modifications and variations can be being obtained from the practice of embodiment.

Some embodiments are described herein in conjunction with threshold value.As used in this article, value can be referred to by meeting threshold value Greater than the threshold value, be more than the threshold value, be higher than the threshold value, be greater than or equal to the threshold value, be less than the threshold value, be less than institute State threshold value, lower than the threshold value, be less than or equal to the threshold value, be equal to the threshold value, etc..

Even if the specific combination of feature is documented in claims and/or is disclosed in the description, these combinations It is not intended to the disclosure of limitation possible embodiment.In fact, many in these features can be specially documented in In claims and/or undisclosed mode in the description is combined.Although each appurtenance being listed below is wanted Only one claim can be directly subordinated to by asking, but the disclosure of possible embodiment includes that each appurtenance is wanted Ask the combination for the every other claim concentrated with claim.

Element used herein, movement or instruction be not construed as it is crucial or required, it is clear except being far from it Description.In addition, as used in this article, word " one " and "one" be intended to include one or more items, and can be with " one Or multiple " be interchangeably used.In addition, as used in this article, term " set " be intended to include one or more items (for example, Continuous item, uncorrelated item, continuous item and uncorrelated item combination, etc.) and can interchangeably make with " one or more " With.In the case where just wanting to an item, term "one" or similar language are used.In addition, as used in this article, art Language " having ", " containing ", "comprising" etc. are it is intended that open-ended term.In addition, word " being based on " is intended to mean " at least partly base In ", unless explicitly stated otherwise herein.

Claims (23)

1. a kind of system, comprising:

Sensor, the sensor are used for:

It is determined based on two or more synchronization signals provided by control equipment for receiving upcoming synchronization signal Scheduled time；And

Measurement to sensor signal is executed at a time point so that at the time point to the sensor signal The selecting time section that corresponding sensing data is measured before receiving the upcoming synchronization signal is available.

2. system according to claim 1, wherein the sensor is also used to:

Another measurement to the sensor signal is executed based on the synchronization signal provided by the control equipment；And

Calculate sensing data corresponding with another measurement to the sensor signal.

3. system according to claim 1, wherein the length of the selecting time section is less than or equal to by described two Or more the length of synchronization period that defines of synchronization signal.

4. system according to claim 1, wherein the length of the selecting time section is based on receiving and described will arrive The time point for the synchronization signal come controls.

5. system according to claim 1, wherein the sensor is also used to:

Receive the upcoming synchronization signal；And

In response to receiving the upcoming synchronization signal, send and at the time point to the sensor signal It is described to measure the corresponding sensing data.

6. system according to claim 1, wherein the sensor is first sensor, the sensor signal is first Sensor signal, the sensing data are first sensor data, and when the selecting time section is first optional Between section,

Wherein the system also includes second sensor, the second sensor is used for:

Determined based on the two or more synchronization signals provided by the control equipment for receive it is described will be to The scheduled time for the synchronization signal come；And

The measurement to second sensor signal is executed at the time point, so that passing at the time point to described second The corresponding sensing data of the measurement of sensor signal is available in the second selecting time section.

7. system according to claim 6, wherein the second sensor is also used to:

Another measurement to the second sensor signal is executed based on the signal provided by the control equipment；And

Calculate sensing data corresponding with another measurement to the second sensor signal.

8. system according to claim 6, wherein the length of the second selecting time section is less than or equal to by described The length for the synchronization period that two or more synchronization signals define.

9. system according to claim 6, wherein the length of the second selecting time section be based on receiving it is described i.e. The time point of the synchronization signal of arrival is controlled.

10. system according to claim 6, wherein the length of the second selecting time section and described first may be selected The length of period matches.

11. system according to claim 6, wherein the reading address of the first sensor and with the first sensor Match with the associated broadcast address of the second sensor.

12. system according to claim 6, wherein the second sensor is also used to:

Receiving includes the signal for identifying the information of reading address of the second sensor；And

In response to receiving the signal of the information of the reading address including identifying the second sensor, send With at the time point to the corresponding sensing data of the measurement of the second sensor signal.

13. system according to claim 12, wherein the reading address of the second sensor be different from it is described First sensor and the associated broadcast address of the second sensor.

14. system according to claim 6, wherein the first sensor or the second sensor are being determined for connecing It is used for when receiving the scheduled time of the upcoming synchronization:

Based on the time for receiving the first synchronization signal and the time difference between time of the second synchronization signal is received to determine The scheduled time,

Wherein first synchronization signal and second synchronization signal are included in the two or more synchronization signals.

15. system according to claim 6, wherein the synchronization signal in the two or more synchronization signals only includes Identify the information of broadcast address associated with the first sensor and the second sensor.

16. system according to claim 6, wherein the synchronization signal in the two or more synchronization signals includes mark Know information, read/write and the one group of circulation of broadcast address associated with the first sensor and the second sensor The position redundancy check (CRC).

17. system according to claim 1, wherein the physical layer of the system include Local Interconnect Network (LIN) bus, Controller zone network (CAN) bus system or FlexRay bus.

It further include only listening control equipment for receive the sensing data 18. system according to claim 1.

19. a kind of sensor, comprising:

One or more components, one or more of components are used for:

Determine the scheduled time for receiving upcoming synchronization signal, wherein the scheduled time be based on by with the sensing Device is associated to control one group of synchronization signal that equipment provides to determine；

Sensor signal is sampled at a time point so that based at the time point to the sensor signal into Row sampling and when optional before the sensor receives the upcoming synchronization signal of sensing data calculated Between Duan Keyong；

The sensing data is calculated based on being sampled at the time point to the sensor signal；And

The sensing data is provided after receiving the upcoming synchronization signal.

20. a kind of control equipment, comprising:

One or more components, one or more of components are used for:

One group of synchronization signal is provided to one group of sensor, wherein one group of synchronization signal definition for identify with it is another synchronous The sampling configuration of signal associated scheduled time；

Another synchronization signal is provided；And

From the sensor receiving sensor data in one group of sensor after providing another synchronization signal, wherein base In the sampling configuration, the sensing data is before another synchronization signal is received by the sensor in the sensing It can be used at device.

21. control equipment according to claim 20, wherein the sensor is first sensor, and the sensor Data are first sensor data,

Wherein one or more of components are also used to:

Another signal is provided；And

Second sensor data are received from the second sensor in one group of sensor after the signal is provided,

Wherein the sampling time associated with the second sensor data and associated with the first sensor data adopt The sample time matches, and

Wherein the first sensor data and the second sensor data are received at place in different times.

22. control equipment according to claim 21, wherein the reading address of the first sensor and with described first Sensor and the associated broadcast address of the second sensor match.

23. control equipment according to claim 21, wherein the reading address of the second sensor be different from it is described First sensor and the associated broadcast address of the second sensor.