KR101076410B1 - Method and apparatus of compensating delay of message transmission in in heterogeneous communication - Google Patents

Abstract

The present invention discloses a method and apparatus for compensating for message transmission delay in heterogeneous protocol communications.
According to an embodiment of the present invention, a method for compensating for a message transmission delay in heterogeneous protocol communication may include receiving a message transmitted from a CAN node from a CAN bus and storing the message along with an arrival time, and transmitting the message to a FlexRay bus. Converting the stored arrival time and the converted message into a message buffer of the FlexRay and requesting data transmission to a FlexRay controller, wherein the FlexRay controller dynamically adjusts the configuration information for the CAN node that has transmitted the message. Transmitting the converted message through a slot or static slot, receiving a message including a reception result from the FlexRay node that received the converted message, and setting information about the CAN node according to the reception result. Making a change.

Description

METHOD AND APPARATUS OF COMPENSATING DELAY OF MESSAGE TRANSMISSION IN IN heterogeneous COMMUNICATION

The present invention discloses a method and apparatus for relocating messages to segments or slots to compensate for message transmission delays in CAN-FlexRay communication.

In modern vehicles, various electronic devices such as microprocessors, sensors, and actuators are used, and they require reliable information exchange between each other for safe driving and driver's convenience.

The most widely used in-vehicle communication is the Control Area Network (CAN), which can transmit data at data rates up to 1 Mbps. However, due to the limitations of event-triggered communication methods and relatively low data rates, they are not suitable for applications requiring high reliability and safety, such as x-by-wire systems. As an alternative, FlexRay has been developed, which has the property of deterministic communication and allows periodic data exchange with little jitter. FlexRay is designed to provide the flexibility of applying TDMA and event-based communication methods that provide determinism by time-triggered. However, in case of a time delay in the process of transmitting data, FlexRay operates due to time synchronization, and the receiving side receives the delayed data, and this delay may affect the transmission of other data. have.

The 'in-vehicle network' has been faced with the increasing number of network domains, increasing complexity in inter-domain communication and resulting transmission delays. In particular, 'Gateway function' is required for communication between heterogeneous domains (CAN, LIN, CAN, FlexRay, etc.). In providing this gateway function, reliable data transfer can be completed in a timely manner. It is necessary to ensure communication.

The present invention is to propose a technique for selecting or adjusting the message transmission slot in conjunction with the delay in order to solve the delay in the process of transmitting and receiving messages in FlexRay communication.

The present invention intends to quantitatively measure the transmission delay in the gateway, and to propose a method that can overcome this when the transmission delay time exceeds the allowable limit of the system.

In particular, the present invention can quantify and compensate for complex transmission delays that can occur when CAN messages are delivered through dynamic segments in a FlexRay cycle, and can be used to maximize the reliability of in-vehicle networks when applied to in-vehicle gateways. .

In order to achieve the above object, a method for compensating for a message transmission delay in heterogeneous protocol communication according to an embodiment of the present invention comprises the steps of receiving a message transmitted from the CAN node from the CAN bus and storing it with the arrival time; Converting a message to be transmitted to a FlexRay bus, storing the stored arrival time and the converted message in a message buffer of the FlexRay, and requesting a data transmission to a FlexRay controller, wherein the FlexRay controller transmits the CAN Transmitting the converted message through a dynamic slot or a static slot according to configuration information about a node, receiving a message including a reception result from the FlexRay node that received the converted message, and according to the reception result Changing setting information for the CAN node.

According to another embodiment of the present invention, a method for compensating for a message transmission delay in heterogeneous protocol communication includes a first message in parallel from a first node using a first protocol in exchanging messages between nodes using heterogeneous protocols. Receiving and storing the message reception time, converting the first message into a second message of a second protocol, and transmitting the stored reception time along with the converted second message through a dynamic slot of a second protocol. Receiving a third message informing of a message delivery delay from a second node that has received the second message, and placing a subsequent message from a first node that generated the first message in a static slot It includes a step.

An apparatus for compensating for a message transmission delay in heterogeneous protocol communication according to another embodiment of the present invention includes a storage unit for receiving a message transmitted from a CAN node from a CAN bus and storing the message along with an arrival time, and transmitting the message to a FlexRay bus. A message conversion unit for converting a message, a FlexRay message buffer for transmitting and receiving a message to and from a FlexRay node, and controlling the storage unit, the message conversion unit, and the FlexRay message buffer; A controller for storing a FlexRay message buffer and requesting a data transmission to a FlexRay controller, controlling the FlexRay message buffer, receiving a request from the controller, and setting a dynamic slot or static according to configuration information for the CAN node that has transmitted the message. A FlexRay controller for sending the converted message through a slot; Group FlexRay controller changes the setting information on the CAN node according to the received result of receiving a message containing the received result of receiving the message, the converted FlexRay node.

An apparatus for compensating for a message transmission delay in heterogeneous protocol communication according to another embodiment of the present invention may be configured to exchange messages between nodes using heterogeneous protocols in parallel from a first node using a first protocol. A storage unit for receiving a message and storing the message reception time, a message conversion unit for converting the first message to a second message of a second protocol, and a second protocol together with the converted second message And a second protocol interface for receiving a third message informing of a message delivery delay from a second node receiving the second message, wherein the controller is configured to receive the third message. Configured to place a subsequent received message from the first node that generated the first message in a static slot .

The present invention can quantitatively measure the transmission delay in the gateway to prevent delays in message transmission and to flexibly adapt to changes in the message flow of the entire network. In particular, the present invention can quantify and compensate for the complex transmission delays that may occur when CAN messages are delivered over dynamic segments in a FlexRay cycle.

1 is a diagram illustrating a structure of a CAN-FlexRay gateway to which an embodiment of the present specification is applied.
2 is a view showing the configuration of static and dynamic segments in FlexRay.
3 is a diagram illustrating a case where a delay of a message occurs in a heterogeneous network such as CAN-FlexRay.
4 is a diagram illustrating an embodiment of compensating for a delay caused by transmission through a static slot according to an embodiment of the present specification.
5 is a diagram illustrating a process of compensating for a message transmission delay in heterogeneous protocol communication according to an embodiment of the present specification.
6 is a diagram illustrating a process of compensating for a message transmission delay in heterogeneous protocol communication according to another embodiment of the present specification.
7 is a diagram illustrating a configuration of an apparatus for compensating for message transmission delay in heterogeneous protocol communication according to an embodiment of the present specification.
8 is a diagram illustrating a configuration of an apparatus for compensating for a message transmission delay in heterogeneous protocol communication according to another embodiment of the present specification.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components as much as possible even if displayed on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but between components It will be understood that may be "connected", "coupled" or "connected".

Proposed methods for exchanging messages between CAN and FlexRay buses include matching the ID of the CAN message with the FlexRay slot or converting the message. On the other hand, we can propose a mapping table for exchanging messages between CAN and FlexRay buses, and apply filtering techniques and message queues for storing messages. However, with this approach, transmission delays can occur during message delivery within gateways located between different (heterogeneous) buses, such as CAN and FlexRay. In particular, if a message transmitted from a node on one bus does not quantitatively measure the transmission delay added to the time to reach a node connected to the other bus, the transmission delay exceeds the allowable limit of the entire network system. As a result, the efficiency of the network can be drastically reduced. Hereinafter, a method and apparatus for measuring a transmission delay in a gateway to prevent a decrease in network efficiency due to the transmission delay will be described.

In addition, the present specification will quantitatively measure the transmission delay in the gateway, and look at the process and apparatus that can overcome this when the transmission delay time exceeds the allowable limit of the system.

1 is a diagram illustrating a structure of a CAN-FlexRay gateway to which an embodiment of the present specification is applied. The CAN-FlexRay gateway 150 of FIG. 1 is connected to a plurality of CAN buses (1, ..., N) and one or more FlexRay buses. Multiple CAN buses (1, ..., N) carry a number of messages received from multiple CAN nodes (111, 112, 113, 114), and many CAN messages simultaneously delivered are delayed and the FlexRay bus May be delivered. That is, since there are multiple CAN buses, messages can be processed at the same time. However, since FlexRay nodes 121, 122, 123, and 124 use one bus, CAN nodes 111, 112, 113, When all 114 generate and transmit messages, they may be delayed and transmitted to the FlexRay nodes 121, 122, 123, and 124.

That is, in order to reduce the message transmission delay in various network configurations in which a delay may occur in processing a message as shown in FIG. 1, an embodiment of the present specification will be described in which a slot is divided into a dynamic slot and a static slot. .

2 is a view showing the configuration of static and dynamic segments in FlexRay.

FlexRay will transmit data through static segment 210 and dynamic segment 220 through a predetermined period that provides predefined space for static and dynamic data. That is, the static segment 210 is a reserved slot for deterministic data arriving at a given time period, and the dynamic segment 220 operates in a CAN-like manner and is used for a wide variety of event-based data that does not require determinism. do. Static segment 210 is a space of a period dedicated to time-triggered frame scheduling, static segment 210 is divided into a plurality of slots (211, 212), etc., each slot is secured data frame It is configured to transmit a data frame at that time.

On the other hand, the dynamic segment 220 proceeds on an event basis, and if there are a plurality of messages in the slot 221, there is a possibility that transmission is delayed.

3 is a diagram illustrating a case where a delay of a message occurs in a heterogeneous network such as CAN-FlexRay.

As described above, the CAN message 315 in the CAN-FlexRay gateway 350 is transmitted through a static slot of a FlexRay cycle or through a dynamic slot. Looking at the transmission delay process generated through the dynamic slot in Figure 3 as follows.

When the CAN message 315 generated by the CAN node 1311 is passed through the gateway 350 to another bus, the primary message generated during the conversion of the message occurring in the gateway (message 315 to be transmitted is converted to 316) in the gateway. The transmission delay and the secondary transmission delay due to the transmission process may occur. 315 is a CAN message and 316 is a FlexRay message converted from a CAN message by the gateway 350.

That is, in FIG. 3, when the CAN message is transmitted in the first cycle, a first delay occurs during the conversion of the gateway 350, and when it fails in the request for transmission to the dynamic slot, the next cycle (second Cycles), resulting in secondary transmission delays. This is because, during the FlexRay cycle, the dynamic segment is driven according to the event-based transmission method. When another message, that is, an arbitrary frame 325 is already being transmitted, other frames remain until the transmission for this frame is completed. It cannot be sent. Therefore, in the worst case, a case may occur in which the transmission cannot be performed within the current FlexRay cycle (first cycle) and thus reach the next cycle (second cycle).

In other words, when a CAN message is transmitted over a dynamic segment with event-driven behavior, there is a delay in transmission that is delayed from the intended time within the current cycle that requested the transmission, or even becomes possible through the next cycle. Done.

Therefore, as shown in FIG. 3, when the CAN message is transmitted through the dynamic segment of the FlexRay cycle, the transmission delay (which is generated by the gateway function) and the FlexRay dynamic segment generated during the message conversion at the gateway 350 are performed. All of the transmission delays occur due to the nature, so that there is a possibility of arriving at the target node at a time when the transmission is significantly out of the required time.

4 is a diagram illustrating an embodiment of compensating for a delay caused by transmission through a static slot according to an embodiment of the present specification.

The CAN-FlexRay gateway 450 determines the time when the CAN message 415 arrives at the gateway to quantitatively measure the time of the two types of transmission delays (primary and secondary delays) described above, and then the FlexRay frame When creating 416, a time stamp is inserted here and sent. The FlexRay node 421 receiving this frame compares the timestamp value with the current time to determine whether it arrives within an acceptable limit. If the allowable limit is exceeded, the node 421 transmits a complaint message to the gateway 450.

The gateway 450 receiving the protest message transmits a message transmitted by the CAN node 411 transmitting the delayed CAN message through an extra static slot of the static segment 460 to prevent a transmission delay that may occur in the future. To compensate.

Spare static slots are provided by FlexRay nodes exchanging CAN messages through dynamic slots, and can be used by assigning additional spare slots that are not currently in use by any node, Redundant channels may also be utilized. In order to check the delay, the CAN-FlexRay gateway 450 may calculate a message transmission in static slot factor (MTSF) by collecting various information derived in the transmission process. Looking at the detailed process as shown in Figure 5 and.

5 is a diagram illustrating a process of compensating for a message transmission delay in heterogeneous protocol communication according to an embodiment of the present specification.

The gateway will receive messages from multiple CAN nodes. The message is received through the CAN bus, and the gateway measures the arrival time of receiving the CAN message and stores it separately (S502). Thereafter, the gateway extracts data from the received CAN message (S504). This is the process of extracting payloads to convert CAN messages into FlexRay frames. The gateway stores the extracted data and the arrival time stored in step S502 in a message buffer used or managed by the FlexRay controller (S506). Thereafter, an interrupt is generated in the message buffer (S508). Due to the occurrence of the interrupt, the interrupt service routine requests the FlexRay controller to transmit the data stored in the buffer (S510). The FlexRay controller determines whether a message of the corresponding node needs to be transmitted through the dynamic slot (S520). If the data is transmitted through the dynamic slot, the FlexRay controller processes the data and the arrival time into a frame and transmits the data through the dynamic slot (S522). On the other hand, if it is necessary to transmit through the static slot, the FlexRay controller processes the data and arrival time into a frame and transmits through the static slot (S524). In this case, the arrival time may be processed in the form of a time stamp. The receiving node extracts data and a time stamp from a frame received through a static slot or a dynamic slot (S530), and compares the extracted time stamp with the arrival time of the frame (S532). Check whether the time difference exceeds the allowable threshold (S540), and if the time difference exceeds the allowable threshold, a protest message is transmitted to the gateway (S542). When the gateway receives the protest node from the FlexRay node, the gateway calculates a message transmission in static slot factor (MTSF) (S544).

In an embodiment of calculating the MTSF, the task manager or the gateway may calculate the MTSF using a number of complaint counters and a message priority. Looking more closely, Equation 1 can be used.

[Equation 1]

In Equation 1, when there is more than one number of messages in a term, MTSF may be calculated by adding priority of CAN messages. Here, the message priority indicates the priority of the CAN message and may be used to assign a weight when a high priority message is delayed in transmission. Of course, the message priority and the number of protest messages may be combined in various ways in addition to addition to calculate MTSF, and may be calculated by multiplying weights for each.

If it is determined that the calculation result of the MTSF exceeds a predetermined allowable limit (S550), a specific node of the CAN bus that transmits the message in question is set to place a message sent after the present time in an extra static slot ( S552).

Subsequently, in the process of transmitting the message in S502, the MTSF calculation is performed to observe whether the value falls below the allowable limit. If the value falls below the allowable limit, the message is transmitted again through the dynamic slot in the dynamic segment. It will transmit through the slot. In more detail, in step S530, S532, and S540, the receiving node calculates the frame arrival time and time stamp, and if the time difference is smaller than the allowable limit, checks whether the corresponding CAN node is transmitted through the static slot (S556). . And, if it is transmitted through the static slot and set again to transmit the message of the corresponding CAN node through the dynamic slot (S558). On the other hand, if the transmission is not through a static slot, that is, if the transmission through the dynamic slot, proceeds without a separate operation.

In addition, even if the MTSF is smaller than the allowable value in step S550, in step S556, it is determined whether the transmission is made through the static slot.

This is because, as frames are transmitted from time to time within the dynamic segment of the FlexRay cycle, frames transmitted from the dynamic segment are transmitted through static slots to compensate for transmission delays. It needs to be returned so that it can be sent in the static segment. That is, if the MTSF value exceeds the allowable limit later, the transmission delay is compensated for through the repetition process such as transmitting through the static slot again.

6 is a diagram illustrating a process of compensating for a message transmission delay in heterogeneous protocol communication according to another embodiment of the present specification.

The process of FIG. 6 may be performed in exchanging messages between nodes using heterogeneous protocols.

The gateway receives the first message in parallel from the first node using the first protocol and stores the message reception time in operation S610.

The gateway converts the first message into a second message of a second protocol (S620), and stores the stored reception time in a dynamic slot of a second protocol together with the converted second message (S630). The first protocol may be a CAN protocol, and the second protocol may be an embodiment of the FlexRay protocol. On the other hand, the controller that controls the gateway or the node using the second protocol, for example, a FlexRay controller, receives a third message indicating a message delivery delay from the second node receiving the second message (S640). One embodiment of the third message may be the above-mentioned message. Additionally, it is possible to determine whether the static slot is arranged for the transmission message of the first node by using the priority of the first message and the number of reception of the third message.

 Thereafter, the gateway or controller sets a message to be received later from the first node that generated the first message in a static slot (S650). The dynamic slot processes data based on an event, and the static slot processes data at regular intervals. As a result, a message of a node having a delay can be transmitted more quickly through the static slot.

On the other hand, even if the node is set to be arranged in a static slot, the transmission delay of the message may not occur later. In this case, it can be set to be allocated to the dynamic slot again. That is, the gateway or controller determines whether to delay the transmission of the message transmitted by the first node, and if the transmission delay does not occur, sets the static slot arrangement for the transmission message of the first node as a dynamic slot arrangement. Can be.

7 is a diagram illustrating a configuration of an apparatus for compensating for message transmission delay in heterogeneous protocol communication according to an embodiment of the present specification.

The overall configuration consists of CAN nodes 781, 782, 783, 784 and FlexRay nodes 791, 792, 799, and an apparatus 700 that controls transmission and reception of messages between them. In detail, the storage unit 710 includes a storage unit 710, a message converter 720, a FlexRay message buffer 730, a controller 740, and a FlexRay controller 750.

The storage unit 710 receives a message transmitted from the CAN nodes 781, 782, 783, and 784 from the CAN bus and stores the message along with the arrival time, and the message converter 720 may transmit the message to the FlexRay bus. And the FlexRay message buffer 730 sends and receives messages with the FlexRay node.

The controller 740 controls the storage unit 710, the converter 720, and the FlexRay message buffer 730. The controller 740 stores the arrival time and the converted message stored in the storage unit in the FlexRay message buffer. Request data transmission to 750.

The FlexRay controller 750 controls the FlexRay message buffer 730, receives the request of the controller 740, and transmits the configuration information to the CAN nodes 781, 782, 783, and 784 that have transmitted the message. Accordingly, the translated message is transmitted through a dynamic slot or a static slot. In addition, the FlexRay controller 750 receives a message including a reception result from the FlexRay nodes 791, 792, and 799 that have received the converted message, and according to the reception result, the CAN node 781, 782, 783. Change the configuration information for the 784). According to an embodiment of the present specification, the FlexRay controller 750 uses the CAN node 781, based on the priority of the message transmitted by the CAN nodes 781, 782, 783, and 784 according to the reception result and the reception result. The transmission delay factors for the 782, 783, and 784 can be calculated. Of course, the control unit 740 may also calculate the transmission delay factor. In addition, the dynamic slot may process data based on an event, and the static slot may process data at predetermined time intervals. One embodiment of the reception result may be a message of the foregoing paragraph.

8 is a diagram illustrating a configuration of an apparatus for compensating for a message transmission delay in heterogeneous protocol communication according to another embodiment of the present specification.

The overall configuration consists of CAN nodes 881, 882, 883, 884 and FlexRay nodes 891, 892, 899, and an apparatus 800 that controls transmission and reception of messages between them. In more detail, the storage unit 810 includes a storage unit 810, a message conversion unit 820, a control unit 830, and a second protocol interface 840.

The storage unit 810 receives a first message in parallel from a first node using a first protocol and stores the message reception time, and the message conversion unit 820 stores the first message in a second protocol. Convert to the second message.

The controller 830 transmits the stored reception time together with the converted second message through a dynamic slot of a second protocol, and the second protocol interface 840 is configured to receive the second node. Receive from the third message announcing the message delivery delay. One embodiment of the third message may be the above-mentioned message. When the third message is received, the controller 830 sets a message to be received in a static slot from a first node that generates the first message. In addition, according to an embodiment of the present disclosure, when the third message is received, the controller 830 may transmit a message to the transmission message of the first node by using the priority of the first message and the number of receptions of the third message. It is possible to determine whether the static slot arrangement for.

In addition, after setting the control unit 830 to be placed in the static slot, it is determined whether the transmission delay of the message transmitted by the first node, if the transmission delay does not occur, the transmission message of the first node The static slot arrangement for the dynamic slot arrangement can be set. The dynamic slot processes data based on an event, and the static slot processes data at predetermined time intervals. According to one embodiment of the present specification, the first protocol is a CAN protocol and the second protocol is a FlexRay. Can be a protocol.

Embodiments of the present specification provide a method of quantitatively measuring a transmission delay in a gateway and overcoming it when the transmission delay time exceeds a system's allowable limit. In particular, it is possible to quantify and compensate for the complex transmission delays that can occur when CAN messages are delivered over dynamic segments within FlexRay cycles. Therefore, when an embodiment of the present disclosure is applied to an in-vehicle gateway, it is possible to maximize the reliability of the in-vehicle network.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

210: static segment 220: dynamic segment
211, 212: static slot 221: dynamic slot
350, 450: CAN-FlexRay Gateway

Claims (16)

Receiving from the CAN bus a message sent by the CAN node and storing it with the arrival time;
Converting the message to be transmitted to a FlexRay bus, storing the stored arrival time and the converted message in a message buffer of the FlexRay, and requesting a data transmission from a FlexRay controller;
Transmitting, by the FlexRay controller, the converted message through a dynamic slot or a static slot according to configuration information about the CAN node that has transmitted the message;
Receiving a message including a reception result from the FlexRay node receiving the converted message; And
And changing the setting information for the CAN node according to the reception result.
The method of claim 1,
The changing step
Calculating, by the CAN node, a transmission delay factor for the CAN node using the priority of the transmitted message and the reception result according to the reception result. Way.
The method of claim 1,
And wherein the dynamic slot processes data based on an event, and the static slot processes data at regular time intervals.
In exchanging messages between nodes using heterogeneous protocols,
Receiving the first message in parallel from a first node using a first protocol and storing the message reception time;
Converting the first message into a second message of a second protocol, and transmitting the stored reception time along with the converted second message in a dynamic slot of a second protocol;
Receiving a third message informing of a message delivery delay from a second node receiving the second message; And
Setting to place in a static slot a message that is subsequently received from a first node that generated the first message.
The method of claim 4, wherein
After receiving the third message,
And determining whether to allocate the static slot for the transmission message of the first node by using the priority of the first message and the number of receptions of the third message. How to compensate.
The method of claim 4, wherein
After the setting to place in the static slot
Determining whether the transmission of the message transmitted by the first node is delayed, and if the transmission delay does not occur, setting the static slot arrangement for the transmission message of the first node to a dynamic slot arrangement; A method for compensating for message transmission delay in heterogeneous protocol communications.
The method of claim 4, wherein
And wherein the dynamic slot processes data based on an event, and the static slot processes data at regular time intervals.
The method of claim 4, wherein
And wherein said first protocol is a CAN protocol and said second protocol is a FlexRay protocol.
A storage unit for receiving the message transmitted by the CAN node from the CAN bus and storing the message together with the arrival time;
A message conversion unit for converting the message to be transmitted to the FlexRay bus;
A FlexRay message buffer for sending and receiving messages with a FlexRay node; And
A control unit which controls the storage unit, the message conversion unit, and the FlexRay message buffer, stores the arrival time and the converted message stored in the storage unit in the FlexRay message buffer, and requests data transmission from the FlexRay controller;
A FlexRay controller for controlling the FlexRay message buffer, receiving a request from the controller, and transmitting the converted message through a dynamic slot or a static slot according to configuration information on the CAN node that has transmitted the message,
The FlexRay controller compensates for a message transmission delay in heterogeneous protocol communication by receiving a message including a reception result from a FlexRay node receiving the converted message, and changing configuration information for the CAN node according to the reception result. Device.
The method of claim 9,
The control unit
And the CAN node calculates a transmission delay factor for the CAN node based on the priority of the transmitted message and the reception result according to the reception result.
The method of claim 9,
And wherein the dynamic slot processes data based on an event and the static slot processes data at regular time intervals.
In an apparatus for exchanging messages between nodes using heterogeneous protocols,
A storage unit for receiving the first message in parallel from a first node using a first protocol and storing the message reception time;
A message conversion unit converting the first message into a second message of a second protocol;
A controller configured to transmit the stored reception time along with the converted second message through a dynamic slot of a second protocol; And
A second protocol interface for receiving a third message informing of a message delivery delay from a second node receiving the second message,
And the controller is configured to place, in a static slot, a message that is subsequently received from a first node that has generated the first message when the third message is received, compensating for a message transmission delay in heterogeneous protocol communication.
The method of claim 12,
When the third message is received, the controller determines whether to allocate the static slot to the transmission message of the first node by using the priority of the first message and the number of times of receiving the third message. A device for compensating for a message transmission delay in.
The method of claim 12,
After the controller is set to be arranged in the static slot, the controller determines whether or not the transmission delay of the message transmitted by the first node is determined, and when the transmission delay does not occur, the static slot arrangement for the transmission message of the first node. To compensate for message transmission delay in heterogeneous protocol communications.
The method of claim 12,
And wherein the dynamic slot processes data based on an event and the static slot processes data at regular time intervals.
The method of claim 12,
Wherein the first protocol is a CAN protocol and the second protocol is a FlexRay protocol.

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