KR101203872B1 - Error detection apparatus and method for dual microcontroller system - Google Patents

Error detection apparatus and method for dual microcontroller system Download PDF

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KR101203872B1
KR101203872B1 KR1020110054381A KR20110054381A KR101203872B1 KR 101203872 B1 KR101203872 B1 KR 101203872B1 KR 1020110054381 A KR1020110054381 A KR 1020110054381A KR 20110054381 A KR20110054381 A KR 20110054381A KR 101203872 B1 KR101203872 B1 KR 101203872B1
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data
controller
error
module
final
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KR1020110054381A
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Korean (ko)
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정지훈
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대성전기공업 주식회사
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Priority claimed from CN201510119331.1A external-priority patent/CN104709289B/en
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Abstract

PURPOSE: Error detecting apparatus and method for a dual controller system are provided to improve the stability and the reliability of output data, and to control the transmission output to a vehicle when an error is generated. CONSTITUTION: An error detecting apparatus for a dual controller system includes a first controller(120), a CAN(controller area network) transceiver(140), and a second controller(130). The first controller receives detection data from a sensor(110), and outlets first data. The first controller also compares the first data with second data transmitted from the second controller, and output final data when an error is not detected. The CAN transceiver transmits the final data through a CAN bus. The second controller compares the final data transmitted from the CAN transceiver with the second data, and transmits an interrupt signal to the first controller for stopping the outlet of the final data. [Reference numerals] (110) Sensor; (120) First controller; (130) Second controller; (140) CAN transceiver; (AA) Car network

Description

ERROR DETECTION APPARATUS AND METHOD FOR DUAL MICROCONTROLLER SYSTEM}

The present invention relates to an error detection apparatus and method of a dual controller system, and more particularly, to an error detection apparatus and method of a dual controller system for calculating the steering steering angle data in a vehicle.

In general, CANs are used to exchange information between on-board electronic control units (ECUs) used in engine management systems, automatic transmissions, airbag systems, body position control systems (ESPs), etc. in the automotive sector. The communication protocol used. The CAN protocol is a real-time serial broadcasting protocol with very high levels of safety. It is an international standard defined by high speed ISO 11898 and low speed ISO 11519-2. The CAN protocol provides two message frame formats: the CAN standard frame provides an 11-bit long ID and the CAN extended frame provides a 29-bit ID.

However, when one MCU (Micro Control Unit) is used in a system operating in real time, such as CAN, when an operation error, system failure, or dead lock occurs in the MCU, data (Data) There is a problem that can not be transmitted, and therefore in a system that requires data in real time because the data is not input is recognized as a failure or cause a malfunction. In particular, a system that computes and processes steering steering angle data in a vehicle requires real-time data.

Therefore, in the steering angle calculation system requiring real-time data, attempts to solve the error part by a method such as mutual control and synchronous communication between two sensor inputs and two MCUs have been studied.

Referring to FIG. 1, the steering angle calculation system 10 using the conventional dual controller receives a sensing signal from the sensor 20 and the MCU1 30 and the MCU2 40 configured as dual calculate the steering angle according to a predetermined algorithm. The CAN bus to other nodes in the vehicle network (ECU). At this time, in order to transmit the calculated data (steering angle data), the CAN modules 35 and 45 included in the MCU1 30 and the MCU2 40 form the steering angle data into message frames according to the CAN protocol, and then the CAN transceiver 50 To CAN bus. In error detection, when a problem occurs in the MCU1 30 and the MCU2 40, it is possible to prevent an error in the output by comparing and controlling each other through communication between the MCUs.

However, in the case of the prior art, even if the result verified by the comparator 33 and 43 is correct, when the CAN module 35 or 45 or a problem occurs in the data output calculator 31 or 41 for driving the conventional method, There is a problem in that there is no way of recognizing sending an error to the vehicle.

In particular, in this case, the CAN module 35, 45 does not recognize the control authority received from the comparator / control unit 33, 43, or the comparator / control unit 33, 43 has an error and therefore the CAN module (35, 45) Failure to control can cause problems because previous error data will continue to be sent to the vehicle.

In addition, the comparator / controllers 33 and 43 are not aware of this and have a high probability of continuing the problem. In addition, it is not possible to recognize whether there is a problem with the actual state of transmission to the vehicle except for information exchange through communication between MCUs, and even if there is a problem in synchronization, an error probability may be higher because the factor of control authority depends on the communication between MCUs. That is, even if there is no problem in the main control unit, if a problem occurs in another configuration, there is a problem that it is difficult to detect the error.

Accordingly, the technical problem of the present invention has been conceived in this respect, and an object of the present invention is to detect an error of a dual controller system for detecting an error occurrence in a detailed area constituting a controller in arithmetic processing of steering steering angle data in a vehicle. It is to provide an apparatus and method.

An error detection apparatus of a dual controller system according to an embodiment for realizing the object of the present invention includes a first controller, a can transceiver, and a second controller. The first controller receives the sensed data from the sensor and calculates the first data. The first controller compares the first data with the second data transmitted from the second controller and outputs final data when no error is detected. The can transceiver receives final data from the first controller and transmits the final data through a CAN bus. The second controller receives sensing data from the sensor, calculates second data by calculating the second data, and compares the second data with the final data fed back from the can transceiver to detect the error. Send an interrupt signal to stop the output of the final data.

In an embodiment of the present disclosure, the first controller may detect an error by comparing the first calculator, the first data, and the second data to receive the operation data and calculate the first data. A first comparison control unit which transmits an output control signal to a first can module when the error is not detected, and a first operation which operates according to the output control signal to process the first data according to a CAN protocol to transmit the final data. One can module may be included.

In an embodiment of the present disclosure, the second controller may include a second calculator configured to receive the sensed data to calculate the second data, and process the final data fed back from the can transceiver according to a CAN protocol to generate a third data. A second CAN module that transmits data, the second data and the first data transmitted from the first controller are compared to detect an error, and the third data transmitted from the second can and the second can module. The second comparator may be configured to compare data to detect an error, and when the error is detected by the second comparator, a second controller to transmit the interrupt signal to the first controller.

In an embodiment of the present disclosure, when the error is not detected in the second comparator, the first comparison controller may transmit the output control signal to the first can module.

In one embodiment of the present invention, the first communication line for connecting the first comparison control unit and the second comparison unit to provide a transmission line of the electrical signal, the first can module and the second control unit is connected to the electrical signal A second communication line for providing a transmission line and a feedback line for feeding back the final data to the second can module may be further included.

In one embodiment of the present invention, the sensor is provided in plurality, the first and second controllers may receive sensing data from the plurality of sensors, respectively.

In an error detection method of a dual controller system according to another exemplary embodiment for realizing the object of the present invention, the first controller receives the sensing data from a sensor and calculates the first data. The second controller receives the sensing data from the sensor and computes the second data. The first controller compares the first data and the second data transmitted from the second controller and outputs final data when no error is detected. The CAN transceiver receives the final data from the first controller and transmits the final data through the CAN bus. The second controller compares the second data with the final data fed back from the can transceiver and transmits an interrupt signal to stop the output of the final data to the first controller when an error is detected.

In one embodiment of the present invention, the step of outputting the final data, the first comparison controller compares the first data and the second data to detect an error, if the error is not detected the first can module And transmitting an output control signal to the first CAN module, wherein the first CAN module operates according to the output control signal to process the first data according to a CAN protocol to transmit the final data. .

In an embodiment of the present disclosure, the transmitting of the interrupt signal may include: processing, by a second CAN module, the final data fed back from the can transceiver according to a CAN protocol and transmitting third data; A comparison unit detecting an error by comparing the second data and the first data transmitted from the first controller, and detecting the error by comparing the second data and the third data transmitted from the second can module; And when the second controller detects an error in the second comparator, transmitting the interrupt signal to the first controller.

In an embodiment of the present disclosure, the transmitting of the output control signal by the first comparison control unit may transmit the output control signal to the first can module when an error is not detected by the second comparison unit. have.

According to the error detection device and method of the dual controller system, the controller configuration modules are divided into more detailed areas, and the communication between the controllers and the final data output to the outside are sensed together to transmit a transmission output to the vehicle in case of an error in each area. By controlling and redundantly verifying the risks caused by errors, the output of dangerous data with errors can be blocked, thereby improving the stability and reliability of the output data.

1 is a block diagram illustrating a conventional dual controller system for calculating a steering angle.
2 is a schematic diagram of a dual controller system according to an exemplary embodiment of the present invention.
3 is a detailed configuration diagram of a dual controller system according to an embodiment of the present invention.
4 is a flowchart illustrating an error detection method of a dual controller system according to an exemplary embodiment of the present invention.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the term "comprises" or "comprising ", etc. is intended to specify that there is a stated feature, figure, step, operation, component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic diagram of a dual controller system according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the error detection apparatus 100 of the dual controller system according to an exemplary embodiment of the present invention includes a first controller 120, a second controller 130, and a can transceiver 140. In addition, the sensor 110 may further include a first communication line 160, a second communication line 170, and a feedback line 180.

In the present exemplary embodiment, a real-time arithmetic system for calculating a steering angle of a steering wheel in a vehicle is disclosed, but the present invention is not limited thereto and may be applied to various error detection devices employing a dual controller system.

The sensor 110 may be implemented as an anisotropic magneto resistance (AMR) sensor for detecting a steering angle of a steering wheel. The sensor 110 may be provided in plurality, and the first and second controllers 120 and 130 may receive sensing data from the plurality of sensors, respectively.

The first controller 120 receives the sensing data from the sensor 110 and calculates the first data. The first controller 120 calculates first data according to a predetermined algorithm.

In addition, the first controller 120 compares the first data and the second data transmitted from the second controller 130 to output final data when no error is detected. That is, the first data and the second data are compared and detected as an error when the predetermined error tolerance is exceeded, and the final data is outputted when the error is not detected.

The second controller 130 receives the sensing data from the sensor 110 to calculate the second data. The second controller 130 calculates the second data according to the same predetermined algorithm as the first controller 120.

In addition, when the second controller 130 compares the second data with the final data fed back from the can transceiver 140 and detects an error, the second controller 130 transmits an interrupt signal to stop the output of the final data to the first controller 120. do. That is, the second data and the final data are compared and detected as an error when the predetermined error tolerance is exceeded. If an error occurs, the interrupt signal is transmitted to the first controller 120 to stop the output of the final data.

The can transceiver 140 receives final data from the first controller 120 and transmits the final data through a CAN bus. That is, the can transceiver 140 is a data transmission apparatus and transmits the final steering angle data for which no error is detected to the vehicle network.

The first communication line 160 is provided between the first controller 120 and the second controller 130 and is a transmission line for mutual comparison between the first data and the second data.

The second communication line 170 is provided between the first controller 120 and the second controller 130, and is a transmission line for transmitting an interrupt signal to the first controller 120.

The feedback line 180 is branched from the output terminal of the can transceiver 140 and connected to the second controller 130, and is a transmission line for feeding back final data to the second controller 130.

The first controller 120 and the second controller 130 may exchange data with each other through an IPC channel and operate in a master-slave manner. In an embodiment of the present invention, the first controller 120 is a master and the second controller 130 is a slave.

According to the error detection device of the dual controller system, the controller configuration modules are divided into more detailed areas, and the communication between the controllers and the final data output to the outside are sensed together to control the transmission output to the vehicle in case of error in each area. In addition, it can improve the stability and reliability of the output data by blocking the output element by redundantly verifying the risk factors caused by the error.

3 is a detailed configuration diagram of a dual controller system according to an embodiment of the present invention.

Referring to FIG. 3, the first controller 120 may include a first calculator 121, a first comparison controller 123, and a first can module 125.

The first calculator 121 receives the sensed data and computes the first data. That is, the first calculator 121 converts the sensor value input through the sensor 110 into data recognizable by the controller through the calculator.

The first comparison controller 123 detects an error by comparing the first data and the second data, and transmits an output control signal to the first can module 125 when the error is not detected. In addition, when no error is detected in the second comparator 133, the first comparison controller 123 transmits an output control signal to the first can module 125. That is, the first comparison controller 123 and the second comparison unit 133 compare the first data and the second data with each other and control the first can module 125 to enable normal output when no error is detected. .

The first can module 125 operates according to the output control signal, processes the first data according to the CAN protocol, and transmits final data. That is, in the first can module 125, output of final data is controlled by both the first comparison controller 123 and the second comparator 133.

The second controller 130 may include a second calculator 131, a second comparator 133, a second controller 134, and a second can module 135.

The second calculator 131 receives the sensed data and computes the second data. That is, the second calculator 131 converts the sensor value input through the sensor 110 into data recognizable by the controller through the calculator.

The second comparator 133 detects an error by comparing the second data with the first data transmitted from the first controller 120. In addition, the second comparator 133 detects an error by comparing the second data with the third data transmitted from the second can module 134. Here, the final data is converted to be recognized by the controller in the third data.

The second controller 134 transmits an interrupt signal to the first controller 120 when an error is detected by the second comparator 133. That is, the second control unit 134 outputs and controls the first can module 125 to compare the second data with the third data converted from the fed back final data so that a normal output is possible when no error is detected.

The second can module 135 processes the final data fed back from the can transceiver 140 according to the CAN protocol and transmits the third data. That is, the second can module 135 reverses the data conversion process of the first can module 125 and provides the converted third data to the second control unit 134.

Here, the first communication line 160 is connected to the first comparison control unit 123 and the second comparison unit 133 to provide a transmission line of the electrical signal, the second communication line 170 is a first can module ( 125 and the second control unit 134 are connected to provide a transmission line of the electrical signal, and the feedback line 180 feeds back the final data output from the can transceiver 140 to the second can module 135.

The present embodiment relates to an error detection device for preventing the transmission of incorrect information to a vehicle when a steering angle sensor for a vehicle used to transmit steering angle information to a vehicle is incorrect. The purpose is to stop the transmission of the output data when a occurs.

For example, when a problem occurs in the first operation unit 121 and the second operation unit 131 as input terminals, the first comparison control unit 123 and the second comparison unit 133 may perform Compare with each other through communication and control each other to prevent error of output.

In addition, when an error occurs in one of the two areas of the first comparison control unit 123 or the second comparison unit 133, the output may be controlled by recognizing that the communication of the first communication line 160 is impossible. In this embodiment, since only one output stage is used, only the control right of the first comparison controller 123 is possible.

However, when an error occurs in both areas of the first comparison control unit 123 and the second comparison unit 133, the first can module 125 transmits an existing input value to the vehicle, and thus, passes through the second can module 135. The output control of the second controller 134 is possible by comparing the input value. In addition, when an error of the first can module 125 occurs, output control is also possible under the control of the second control unit 134.

If an error occurs in the second control unit 134 and the first comparison control unit 123, all the output control right disappears, which is the case when both MCUs have an error. Therefore, when comparing the probability of error of software in each area with the probability of error occurrence, error output control is possible except in case of software failure in two MCUs.

On the other hand, the method for synchronization among the controller-to-controller communication method is generally recognized as synchronization when the value within the error range of the sampling for the sensor input data value is calculated to match the synchronization, but in the present embodiment the second control unit 134 ) Transfers the recognition result value to the second comparison unit 133 and transfers it to the first comparison controller 123 using the first communication line 160, and the second comparison unit 133 and the first comparison controller ( 123) Preferably, all of the synchronization is performed by using the range transformation for the sampling frequency of the sensor input value.

For example, when the first comparison control unit 123 and the second comparison unit 133 store data at one time point and compare data at the next time point, the data coming from the second can module 135 at the previous time point is compared with the data coming from the previous time point. If the data values of the previous time point stored are compared and matched, the synchronization of the sensor values of the next time point is performed. Of course, this is a synchronization of the sampling time point and the difference of the sensor data is synchronized with the range variation of the sampling data.

The first comparison controller 123 controls the first can module 125 by the comparison result through the first communication line 160, and the second comparison unit 133 compares the result through the first communication line 160. When the control command is commanded to the first comparison controller 123 through the first communication line 160 again, in this case, the problem of the first communication line 160 or the problem of the first comparison controller 123 occurs. Since there is no control right of the first can module 125, the second controller 134 may determine whether the synchronization is successfully transmitted from the second comparator 133, the operation result transfer value of the second calculator 131, and the second can module. When a failure is detected within a predetermined number of times by comparing the data values coming from the 135, the output of the first can module 125 is controlled using the second communication line 170.

The output control of the first comparison controller 123 generally uses the enable pin of the first can module 125, but the output control method of the second controller 134 uses the enable pin to generate an error within a predetermined time. It is used for restoring back to normal. If an error is continuously detected for a predetermined time, the first controller 120 is interrupted to initialize the first controller 120 and the second controller 130 is also initialized. You can perform the operation again.

4 is a flowchart illustrating an error detection method of a dual controller system according to an exemplary embodiment of the present invention.

Referring to FIG. 4, in the error detection method of the dual controller system according to an exemplary embodiment of the present disclosure, first, the first calculating unit 121 receives sensing data from the sensor 110 and calculates the first data ( S11). At the same time as step S11 is performed, the second calculating unit 131 receives the sensing data from the sensor 110 and calculates the second data (S12).

Next, the first controller 120 and the second controller 130 compare the first data and the second data with each other. That is, the first comparison controller 123 compares the first data and the second data transmitted from the second controller 130 (S21) to detect an error, and the second comparison unit 133 detects the second data and the first data. 1 The first data transmitted from the controller 120 is compared (S22) and an error is detected.

When an error is detected in at least one of the comparison results in step S21 or step S22, the first comparison controller 123 controls the first can module 125 to stop outputting the final data (S30). When no comparison result error is detected in step S21 or step S22, the first comparison controller 123 transmits a first output control signal to the first can module 125 (S40).

Next, the first can module 125 operates according to the output control signal, processes the first data according to the CAN protocol, and outputs final data (S50). The second can module 135 processes the final data fed back from the can transceiver 140 according to the CAN protocol and transmits the third data (S60).

Next, the second comparison unit 133 compares the second data and the third data transmitted from the second can module 135 (S70). When an error is detected as a result of the comparison in step S70, the second controller 134 transmits an interrupt signal for stopping output of the final data to the first can module 125 (S80). If no error is detected as a result of the comparison in step S70, the second controller 134 transmits a second output control signal to the first can module 125 (S90). That is, the first can module 125 maintains normal operation by the first and second output control signals. Finally, the process returns to steps S11 and S12 to be repeated.

Although described above with reference to the embodiments, those skilled in the art can be variously modified and changed within the scope of the present invention without departing from the spirit and scope of the invention described in the claims below. I can understand.

The error detection apparatus and method of the dual controller system according to the present invention divides the controller configuration modules into more detailed areas, detects communication between controllers and final data output to the outside, and transmits the transmission output to the vehicle when an error occurs in each area. By controlling and redundantly verifying the risks caused by errors, the output of dangerous data with errors can be blocked, thereby improving the stability and reliability of the output data.

100: error detection device of the dual controller system
110: sensor 120: first controller
130: second controller 140: can transceiver
160: first communication line 170: second communication line
180: feedback line

Claims (10)

  1. A first controller configured to receive sensing data from a sensor, calculate first data, and output final data when no error is detected by comparing the first data and second data transmitted from the second controller;
    A can transceiver for receiving final data from the first controller and transmitting the final data through a CAN bus; And
    The sensor receives data from the sensor, calculates second data, and compares the second data with the final data fed back from the can transceiver. When an error is detected, outputting the final data to the first controller. And a second controller for transmitting an interrupt signal to stop.
  2. The method of claim 1, wherein the first controller,
    A first calculator which receives the sensed data and computes the first data;
    A first comparison controller comparing the first data with the second data to detect an error, and transmitting an output control signal to a first can module if the error is not detected; And
    And a first CAN module configured to operate according to the output control signal and process the first data according to a CAN protocol to transmit the final data.
  3. The method of claim 2, wherein the second controller,
    A second calculator which receives the sensed data and computes the second data;
    A second CAN module configured to process final data fed back from the can transceiver according to a CAN protocol to transmit third data;
    A second comparison unit which detects an error by comparing the second data and the first data transmitted from the first controller and detects the error by comparing the second data and third data transmitted from the second can module. ; And
    And a second controller which transmits the interrupt signal to the first controller when an error is detected in the second comparator.
  4. The method of claim 3,
    And the first comparison controller is configured to transmit the output control signal to the first can module when an error is not detected at the second comparator.
  5. 5. The method of claim 4,
    A first communication line connecting the first comparison control unit and the second comparison unit to provide an electric signal transmission line;
    A second communication line connecting the first can module and the second control unit to provide an electric signal transmission line; And
    And a feedback line for feeding back the final data to the second can module.
  6. The method according to claim 1,
    The sensor may be provided in plurality, and the first and second controllers may detect error data from the plurality of sensors, respectively.
  7. Calculating, by the first controller, the first data by receiving the sensed data from the sensor and calculating the first data;
    Calculating, by the second controller, the second data by receiving the sensed data from the sensor and calculating the second data;
    The first controller comparing the first data with the second data transmitted from the second controller and outputting final data when no error is detected;
    Receiving a final data from the first controller through a CAN bus by a CAN transceiver; And
    And when the second controller compares the second data with the final data fed back from the can transceiver and transmits an interrupt signal to stop the output of the final data to the first controller when an error is detected. Error detection method of a dual controller system.
  8. The method of claim 7, wherein
    Outputting the final data,
    Comparing, by the first comparison control unit, the first data and the second data to detect an error, and transmitting an output control signal to a first can module when the error is not detected; And
    And operating the first CAN module according to the output control signal to process the first data according to a CAN protocol to transmit the final data.
  9. The method of claim 8,
    Transmitting the interrupt signal,
    A second CAN module processing final data fed back from the can transceiver according to a CAN protocol to transmit third data;
    A second comparator detects an error by comparing the second data and the first data transmitted from the first controller and detects the error by comparing the second data and the third data transmitted from the second can module. step; And
    And transmitting, by the second controller, the interrupt signal to the first controller when an error is detected by the second comparator.
  10. 10. The method of claim 9,
    The transmitting of the output control signal by the first comparison controller,
    And transmitting an output control signal to the first can module when an error is not detected by the second comparator.

KR1020110054381A 2011-06-07 2011-06-07 Error detection apparatus and method for dual microcontroller system KR101203872B1 (en)

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Application Number Priority Date Filing Date Title
KR1020110054381A KR101203872B1 (en) 2011-06-07 2011-06-07 Error detection apparatus and method for dual microcontroller system
CN201510119331.1A CN104709289B (en) 2011-06-07 2011-07-06 The error detector element and method of double-controller system
US13/511,129 US9003271B2 (en) 2011-06-07 2011-07-06 Error detecting device and method of a dual controller system
EP11867253.4A EP2719599A4 (en) 2011-06-07 2011-07-06 Device and method for detecting error in dual controller system
PCT/KR2011/004925 WO2012169687A1 (en) 2011-06-07 2011-07-06 Device and method for detecting error in dual controller system
CN201180004628.3A CN102933443B (en) 2011-06-07 2011-07-06 The error detector element of double-controller system and method

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KR101242396B1 (en) 2011-10-11 2013-03-12 대성전기공업 주식회사 Error detection apparatus and method for dual microcontroller system
KR101273278B1 (en) * 2011-10-11 2013-06-11 대성전기공업 주식회사 Error detection apparatus and method for dual microcontroller system
KR101491261B1 (en) * 2013-06-07 2015-02-06 현대자동차주식회사 Method for diagnosing malfunction of ecu in vehicle
KR20190094531A (en) * 2018-02-05 2019-08-14 주식회사 만도 Apparatus and method for controlling vehicle based on redundant architecture
KR102111295B1 (en) 2018-02-05 2020-05-15 주식회사 만도 Apparatus and method for controlling vehicle based on redundant architecture
WO2020050674A1 (en) * 2018-09-06 2020-03-12 주식회사 만도 Wheel speed sensor interface circuit, operation method thereof, and electronic control system

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