KR101232570B1 - The Node Slotting Method And The FlexRay-CAN Gateway based Node Mapping Using The Method And The Method of Operating The FlexRay-CAN Gateway - Google Patents

Abstract

The present invention relates to a node slotting method and a node mapping based FlexRay-CAN gateway using the method. The present invention relates to a CAN protocol using a node slotting method between a FlexRay protocol based message and a CAN protocol based message in a vehicle network system. Node slotting method for assembling based messages into FlexRay slots based on FlexRay protocol or converting received FlexRay slots into CAN protocol based messages, and using node mapping based FlexRay-CAN gateway. In order to solve the problem of increasing the complexity of the software or changing the software due to the change of the ID or the change of the ID, the cost of the software change can be reduced and the lower specification FlexRay-CAN gateway can be used to reduce the cost and the overall network. Traffic in Can be reduced.

Description

Node Slotting Method and The FlexRay-CAN Gateway based Node Mapping Using The Method And The Method of Operating The FlexRay-CAN Gateway

The present invention relates to a node mapping-based FlexRay-CAN gateway and its operation method, and more particularly, to a node slotting method for assembling the messages for interworking between a message of a FlexRay protocol and a message of a CAN protocol in a vehicle network system. It relates to a node mapping based FlexRay-CAN gateway using the method and its operation method.

Various studies have been published for sharing between CAN-based messages and FlexRay protocol-based messages, which are widely used in in-vehicle network systems.

Jeon proposed a method to implement FlexRay-CAN gateway for converting between FlexRay protocol based message and CAN protocol based message using general message mapping technique. Li used a message mapping technique using MC9S12XF512 MCU. We proposed a study on the implementation of FlexRay-CAN gateway, Qin also conducted a study on developing FlexRay-CAN gateway through message mapping using DSP (Digital Signal Process), and Herpel and Schmidt also implemented a message mapping technique. We implemented the FlexRay-CAN gateway and evaluated its performance.

Most of the studies on the conventional FlexRay-CAN gateway are related to the implementation of a gateway using a technique of mapping one-to-one mapping between a FlexRay protocol based message and a CAN protocol based message shared through the gateway.

However, the message mapping-based FlexRay-CAN gateway has two problems. First, the message mapping technique has a problem that the complexity of the software for implementing the gateway increases rapidly as the number of messages to be shared between FlexRay and CAN networks increases.

In addition, the message mapping-based gateway has a problem in that the software of the FlexRay-CAN gateway needs to be modified again and again when the message exchanged between the FlexRay protocol and the CAN protocol is changed or the ID in the CAN protocol-based message is changed.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. Even if a message change or ID change occurs between a FlexRay protocol-based message and a CAN protocol-based message in a vehicle network system, the message is interchanged without changing the software. The process of assembling CAN protocol-based messages into FlexRay protocol-based FlexRay slots or converting received FlexRay slots to CAN protocol-based messages using node slotting methods to improve compatibility and reduce network traffic. The purpose of the present invention is to provide a node slotting method for performing the method, a node mapping-based FlexRay-CAN gateway using the method, and an operation method thereof.

A conversion between a CAN protocol based message and a FlexRay protocol based message, the method comprising: extracting an ID field, a control field, and a data field from a data frame of a CAN protocol based message; Assembling a FlexRay slot to a header including identification information of a FlexRay slot in front of the extracted data field, a NoM, SMD, LoM, and ID of a payload, and a tail notifying the end of the slot at a rear end of the data field; Removing a header and a Taylor of a FlexRay slot, which is a message based on a FlexRay protocol; Extracting an ID, LoM, and message of a payload that is data of a FlexRay slot; And converting the data into a CAN protocol based data frame using the extracted information.

A FlexRay-CAN gateway for sharing between a FlexRay protocol based message and a CAN protocol based message, the FlexRay-CAN gateway comprising: a FlexRay transceiver for transmitting and receiving a FlexRay protocol based message between each node and a FlexRay controller on a FlexRay network; A CAN transceiver for transmitting and receiving CAN protocol based messages between each node on the CAN network and the CAN controller; A FlexRay controller configured to receive a FlexRay protocol-based message received from the FlexRay transceiver and convert the received digital signal into a digital signal and encode the digital signal into a code signal received from the gateway controller; Decoding process of converting a CAN protocol based message received from the CAN transceiver into a digital signal that can be utilized by the gateway controller, and encoding process of converting a digital signal into a code signal to transmit a message received from the gateway controller to each node. CAN controller in charge of; FlexRay protocol-based FlexRay slot received from the FlexRay controller is assembled and transmitted as a CAN protocol-based message, or CAN protocol-based messages received from the CAN controller are assembled by the assembly algorithm in the FlexRay slot and sent to the FlexRay controller A gateway controller including a message buffer and a message filter function to handle a process of performing the process; An assembler for converting a FlexRay protocol-based FlexRay slot or a CAN protocol-based message received from the gateway controller into a CAN message or a FlexRay slot using node slotting method and transmitting the same to the gateway controller, respectively; and received from the gateway controller. And a node mapping-based FlexRay-CAN gateway using a node slotting method, which includes an application using information and transmitting control information generated from an application device and an application program.

In the FlexRay-CAN gateway implemented for sharing between the FlexRay protocol-based message on the FlexRay network and the CAN protocol-based message on the CAN network, the complexity of the software increases due to the change of the conventional message or the ID. By addressing the challenges of change, you can reduce the cost of software changes and lower cost FlexRay-CAN gateways to reduce costs and reduce overall network traffic.

1 is a structural diagram of a node mapping based FlexRay-CAN gateway according to the present invention;
2 is an assembly diagram of node mapping based FlexRay slots and a communication structure of a FlexRay-CAN gateway according to a node slotting method according to the present invention;
3 is a message frame structure diagram based on a conventional CAN protocol;
4 is a flowchart of a node mapping based FlexRay-CAN gateway operation algorithm according to the present invention.

Hereinafter, the configuration and operation of a node slotting method according to the present invention, a node mapping-based FlexRay-CAN gateway using the method, and an operation method thereof according to the exemplary drawings will be described in detail.

The key point of the present invention is to support compatibility with various field devices, actuators, sensors, etc. according to the IEC 61800 standard, which is a conventional intelligent smart driver standard, to collect information from the devices and to perform necessary control of the devices. EtherCAT slave module device for IEC 61800-based power driver system that can transmit commands, etc., and can also interlock EtherCAT protocol, which is an industrial protocol that provides important real-time characteristics in the industrial field in collecting and transmitting this information. Is the point.

As shown in FIG. 1, the node mapping-based FlexRay-CAN gateway is connected to a FlexRay network to receive a FlexRay protocol-based message, the FlexRay transceiver 100, the CAN transceiver 110, the FlexRay controller 120, and the CAN controller 130. ), The gateway controller 140, the assembler 150, and the application 160.

The FlexRay transceiver 100 is connected to a FlexRay network to receive a message based on the FlexRay protocol transmitted from each node or vice versa to transmit a message transmitted from the FlexRay controller 120 to each FlexRay node.

The CAN transceiver 110 is directly connected to the CAN network to which each CAN node is connected to receive a CAN protocol based message transmitted from the nodes or vice versa to transmit a message transmitted from the CAN controller 130 to each FlexRay node.

The FlexRay controller 120 receives a message composed of ID and data, which is an identifier based on the FlexRay protocol, received from the FlexRay transceiver () and receives the message from the application 160 or the CAN controller 130 through the gateway controller 140. It is responsible for decoding to convert the digital signal into a usable digital signal and encoding the digital signal into a code signal to transmit the message received from the gateway controller 140 to each node through the FlexRay transceiver 100.

The CAN controller 130 receives a message composed of ID and data, which is a identifier based on the CAN protocol, received from the CAN transceiver 110 and then, in the application 160 or the CAN controller 130, through the gateway controller 140. It is responsible for decoding to convert the digital signal into a usable digital signal and encoding the digital signal into a code signal in order to transmit the message received from the gateway controller 140 to each node through the FlexRay transceiver 120.

The gateway controller 140 converts a FlexRay protocol based FlexRay slot received from the FlexRay protocol controller 120 into a CAN protocol based message, including a message buffer for temporarily storing the message and a message filter function for selecting the received message. Assembling and transmitting or collecting the CAN protocol based message received from the CAN controller 130 for a certain time to assemble the FlexRay slot through the assembly process by the assembly algorithm in the assembler 150 to transmit to the FlexRay controller 120 In charge of the process.

The assembler 150 converts a FlexRay protocol based FlexRay slot or a CAN protocol based message received from the gateway controller 140 into a CAN message or FlexRay slot, respectively, through a node slotting method, to the gateway controller 140. send.

The application 160 is a variety of applications and applications that are performed using data transmitted and received through a vehicle network, and uses information received from the gateway controller 140 and, conversely, control information generated from applications and applications. Send.

The assembler 150 shows a procedure for assembling and transmitting a FlexRay slot based on the FlexRay protocol and a CAN protocol based message by the node slotting method as shown in FIG. 2.

If the CAN protocol-based message to be transmitted from the CAN network to the FlexRay network exceeds the initially set FlexRay slot size or passes the FlexRay cycle time set in a unit of time, the FlexRay-CAN gateway 200 assembles the CAN messages to be sent to the FlexRay slot. send.

The FlexRay slot is composed of a header containing packet identification information, a payload including data, and a Taylor to inform the end of the packet. The payload includes one NoM (Number of Message), n Start Message Delimiters (SMDs), Length of Message (LOM), ID (IDentifier), and a message.

The NoM is a 3-bit identifier that indicates the number of CAN protocol based messages included in the FlexRay slot assembled in the gateway.

The SMD is a 3-bit identifier for distinguishing between CAN protocol based messages in the payload.

The LoM is a 3-bit identifier for indicating the CAN protocol-based message length, and the data size information obtained from the DLC (Data Length Code) of the CAN data frame can be written to insert as many CAN protocol-based messages as possible in a given FlexRay slot. To make it work.

The ID is a 29-bit identifier representing an ID of a CAN protocol based message according to the CAN 2.0B protocol and describes an ID field of a CAN data frame.

The message has a variable length with a maximum message length of up to 8 bytes and a space for message data based on the CAN protocol.

Conversely, a CAN protocol-based message to be sent from the FlexRay network to the CAN network removes the header and taylor of the FlexRay slot when one FlexRay slot is received, converting the payload, which is the data in the FlexRay slot, into CAN frames and storing it in the CAN transmit message queue. Send to the CAN network in order.

As shown in FIG. 3, the CAN frame has a SOF (Start Of Frame) indicating the start of a frame having a default value of "0", an 11-bit ID field, a 1-bit RTR field, a 6-bit control field, and a maximum of 8 bytes. Data field, a 16-bit cyclic redundancy check (CRC) field for cyclic redundancy check for error detection, a 2-bit ACK (Acknowlege) field, and finally a 7-bit frame end field.

A value "1" is written in the SOF field of the CAN frame for data transmission, an ID of a FlexRay slot is written in the ID field, a value '0' is written in the RTR field, and a value '0' is written in the control field. The data length code (DLC) of the lower 4 bits describes the data length of the LoM of the FlexRay slot, the data field describes the message of the FlexRay slot, and the CRC field indicates error detection calculated from data preceding the CRC field. The operation code for "00" or the message successfully received, the ACK field having a value of "01" and the EOF field having 7 bits of value "1" are described, and a CAN frame is formed to configure the data of the FlexRay slot. Convert to CAN frame data.

4 illustrates an operation algorithm of a node mapping based FlexRay-CAN gateway. First, the FlexRay-CAN gateway performs initialization (step 300), and then checks whether there is a message to be received on the FlexRay network or the CAN network (step 310). If a message based on a CAN protocol to be received on the CAN network is transmitted, the transmitted message is stored in a message queue (step 320).

At this time, it is checked whether the FlexRay cycle time has elapsed (step 330). If the FlexRay cycle time has not elapsed, it is checked whether the message queue is full (step 340). If the message queue is not full, check whether there is a received message again, and if the message is full, repeatedly check whether the FlexRay cycle time has elapsed (step 330).

If the FlexRay cycle time has elapsed, the FlexRay slot is assembled by the node slotting method in the assembler 150 in the FlexRay-CAN gateway 200 for all CAN protocol-based messages stored in the message queue (step 350). After all the transmissions are performed in a predetermined order, it is checked whether there are any received messages again (step 360).

On the other hand, if a message based on the FlexRay protocol received from the FlexRay network is confirmed, the transmitted message is stored in the message queue (step 370). Check whether there are any messages to be transmitted to the CAN network among the stored FlexRay messages (step 380). If there are CAN messages to be sent, remove the header and the Taylor of the FlexRay slot stored in the message queue (step 390) and convert them to CAN protocol-based messages. Save (step 400)

After transmitting all the converted CAN protocol based messages to the CAN network according to the order stored in the message queue, check whether there is a received message again (step 410).

According to the operation algorithm of the FlexRay-CAN gateway, data can be transmitted between nodes on a CAN network and nodes on a FlexRay network.

In the present specification, a node slotting method according to the present invention, a node mapping based FlexRay-CAN gateway using the method, and a preferred embodiment of the method of operating the same are described, but the present invention is not limited thereto. The invention may be practiced in various ways within the scope of the claims and the accompanying drawings, which also belong to the scope of the invention.

100: FlexRay Transceiver 110: CAN Transceiver
120: FlexRay controller 130: CAN controller
140; Gateway Controller 150: Assembler
160 application 200 FlexRay-CAN gateway

Claims (3)

In converting between CAN protocol based messages and FlexRay protocol based messages,
The assembler in the FlexRay-CAN gateway may include: extracting an ID field, a control field, and a data field from the data frame in the case of a data frame of a CAN protocol based message transmitted from a CAN controller;
The assembler in the FlexRay-CAN gateway includes a header containing identification information of the FlexRay slot in front of the extracted data field, a number of messages (May) of the payload indicating the number of CAN messages assembled in the slot of the gateway, and a payload. A FlexRay slot is used to identify the end of the slot at the end of the data field. Assembling on;
The assembler in the FlexRay-CAN gateway may include: removing a header and a taylor of the FlexRay slot in the case of a FlexRay slot, which is a FlexRay protocol based message transmitted from a FlexRay controller;
The assembler in the FlexRay-CAN gateway extracts an ID, LoM, and message of a payload, which is data of a FlexRay slot; and
And assembler in a FlexRay-CAN gateway converting the extracted information into a CAN protocol based data frame. In the FlexRay-CAN gateway for sharing between the message based on the FlexRay protocol and the message based on the CAN protocol using the node slotting method of claim 1,
A FlexRay transceiver for transmitting and receiving a message based on a FlexRay protocol between each node on the FlexRay network and a FlexRay controller;
A CAN transceiver for transmitting and receiving CAN protocol based messages between each node on the CAN network and the CAN controller;
A FlexRay controller configured to receive a FlexRay protocol-based message received from the FlexRay transceiver and convert the received digital signal into a digital signal and encode the digital signal into a code signal received from the gateway controller;
Decoding process of converting a CAN protocol based message received from the CAN transceiver into a digital signal that can be utilized by the gateway controller, and encoding process of converting a digital signal into a code signal to transmit a message received from the gateway controller to each node. CAN controller in charge of;
The FlexRay protocol-based FlexRay slot received from the FlexRay controller is assembled into a CAN protocol-based message and transmitted, or the CAN protocol-based messages received from the CAN controller are generated in the assembler using the number of messages based on the CAN protocol. It generates SMD to distinguish between CAN protocol based messages, generates LoM frame describing data size information obtained from DLC (Data Length Code) of CAN data frame, and generates ID from ID field of CAN data frame. A gateway controller including a message buffer and a message filter function to generate a message frame from message data based on the CAN protocol, attach a taylor indicating the end of the packet, and assemble a FlexRay slot to transmit the message to the FlexRay controller;
An assembler for converting a FlexRay protocol-based FlexRay slot or a CAN protocol-based message received from the gateway controller into a CAN message or a FlexRay slot, respectively, using the node slotting method of claim 1 and transmitting the same to the gateway controller; and
And an application for using the information received from the gateway controller and vice versa to transmit control information generated from an application device and an application program. In the method of operating a node mapping based FlexRay-CAN gateway of claim 2,
Initializing the FlexRay-CAN gateway (step 300);
Checking whether there is a message to be received on the FlexRay network or the CAN network (step 310);
When the CAN protocol based message is transmitted on the CAN network, storing the message in a message queue (step 320);
Checking whether the FlexRay cycle time has elapsed (step 330);
If the FlexRay cycle time has not elapsed, checking whether the message queue is full (step 340);
Repeating the FlexRay cycle timeout step (330) in the message checking step (310) if the message queue is not full;
If the FlexRay cycle time has elapsed, assembling all CAN protocol based messages stored in a message queue into a FlexRay slot by the node slotting method (step 350);
Transmitting all of the assembled FlexRay slots in a predetermined order and checking whether there is a received message (step 360);
If the message based on the FlexRay protocol is transmitted on the FlexRay network in step 310, storing the transmitted message in a message queue (step 370);
Checking whether there is a message to be transmitted to a CAN network among the stored FlexRay messages (step 380);
If there is a FlexRay message to be transmitted to the CAN network, removing the header and the Taylor of the FlexRay slot (step 390);
Converting and storing the FlexRay slot from which the header and the Taylor have been removed in step 390 into a CAN protocol based message by the node slotting method (step 400); and
And transmitting the converted CAN protocol based message to the CAN network according to the order stored in the message queue, and then checking whether there is a received message (step 410).

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