KR101907438B1 - Method for transmitting and receiving periodic message of gateway device for vehicle - Google Patents

Abstract

The present invention relates to a method of transmitting and receiving a periodic message of a gateway for a vehicle, the method comprising the steps of: checking whether a gateway for a vehicle generates a message reception interrupt; Increasing a message reception counter value when the message reception interrupt occurs; Receiving, by the gateway, a message reception buffer when receiving a message corresponding to a specified number of target reception messages; And a step in which the gateway copies the received message to the message reception buffer and notifies the upper application or transmits the copied message to the general controller.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method and apparatus for periodic message transmission /

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method of transmitting and receiving a periodic message of a gateway of a vehicle, and more particularly, to a method of transmitting and receiving periodic messages of a gateway of a vehicle,

Generally, in a communication system of a vehicle, a gateway (or a communication gateway module) is used for transmitting messages and signals between different communication networks or controllers (e.g., ECU, TCU, CPU, etc.).

For example, as shown in Fig. 1, a controller for controlling basic functions such as an engine or a transmission of a vehicle, and each device (or a controller for controlling a function (e.g., ADAS, Advanced Driver Assistance System) (E.g., an ECU, a TCU, a CPU, etc.) 120 to 140 of the system send and receive signals or messages through the gateway 110. [

Hereinafter, a controller for controlling other functions of the vehicles other than the internal controller (i.e., gateway controller) of the gateway 110 will be referred to as a general controller (e.g., ECU, TCU, CPU) 120 to 140 .

The gateway 110 (that is, the gateway controller) uses a message routing method in which a communication message is disassembled and reassembled and transmitted, and a message routing method in which an entire message is transmitted.

However, since various functions such as car navigation systems, autonomous travel control in cooperation with information provided on the road, and telematics functions such as remote assistance in case of an accident, emergency support service or theft prevention service are added, Gateway controller), the load of the controller (i.e., CPU) of the gateway is increasing.

Accordingly, since an increase in the number of communication messages transmitted through the gateway (i.e., the gateway controller) can increase the reception cycle error of the message (e.g., an error that a message is not transmitted within a predetermined period) to be.

BACKGROUND ART [0002] The background art of the present invention is disclosed in Korean Registered Patent No. 10-0923618 (registered on Oct. 19, 2009, a gateway device for vehicles, a control method thereof, a recording medium, a connection device and a connection control method thereof).

According to an aspect of the present invention, there is provided a mobile communication system, which is created to solve the above-described problems, includes: a synchronization unit for synchronizing a start time of a message transmission through a gateway for a car; The purpose of the method is to provide.

According to an aspect of the present invention, there is provided a method of transmitting / receiving a periodic message of a gateway for a vehicle, the method comprising: checking whether a gateway for a vehicle generates a message reception interrupt; Increasing the message reception counter value when the message reception interrupt occurs; Receiving a message corresponding to a predetermined number of target received messages, the gateway searching for a message receiving buffer; And a step in which the gateway copies the message received in the message reception buffer and notifies the upper application or transmits the copied message to the general controller.

In the present invention, the step of checking whether the message reception interrupt occurs and the step of increasing the message reception counter value are repeatedly performed each time a message is received, and the message reception counter value is set to a number .

In the present invention, the step of copying the received message to the message reception buffer and notifying the upper application or transmitting the message to the general controller is repeatedly performed by the number of the designated target received messages.

In the present invention, if the message reception interrupt occurs, checking whether a value of a Ready ready message reception flag of the gateway is set to 1; If the ready message reception flag is set to 0, searching the message reception buffer by the gateway; Checking whether the gateway has received a Ready message from all common controllers registered on the database; Receiving a Ready message from all of the general controllers, the gateway sets a Ready message reception flag value to 1, and transmits a Sync message to all the general controllers; If the Ready message is received or a Ready message is not received from all the general controllers or a Sync message is sent to the general controllers, Checking if the number of the target received message mapped to the received time slot index is 0 if the value of the Sync message transmission flag is 1 and checking whether the target Increasing the message reception count by 1 if the number of received messages is not 0; Checking whether the message reception count is equal to a predetermined target number of received messages and searching for a message reception buffer if the message reception count is equal to a predetermined target number of received messages; After searching the message reception buffer, the gateway checks whether the received message is out of the allowable period error. If the received message is out of the allowable period error, the Sync message transmission request flag is set to 1 ; And if the received message does not deviate from the allowable period error or the synchronization message transmission request flag is set to 1, the gateway copies the received message and transmits the copied message to all the general controllers do.

In the present invention, in order to transmit the received message to a general controller, the gateway checks whether a transmission of a Sync message is completed when a message transmission interrupt occurs; When the transmission of the Sync message is completed, the gateway sets the Sync message transmission flag to 1 and restarts the periodic timer; If the periodic timer event occurs due to the restart of the periodic timer, the gateway checks whether a Sync message request flag value is set to 1; If the Sync message request flag is set to '1', the gateway transmits a Sync message to the general controller, sets a Sync message transmission request flag to 0, Incrementing the index by 1; And a step of the gateway checking whether the reception time slot index has reached a predetermined maximum value and initializing a reception time slot index if the reception time slot index has reached a maximum value.

In the present invention, when the periodic timer event occurs, if the Sync message request flag is not set to '1', the gateway checks whether the message reception count is equal to a predetermined target number of received messages. If the message reception count is equal to a predefined number of target received messages, the gateway immediately increments the received time slot index by one; And if the message reception count is not equal to the predetermined target number of received messages, transmits a Sync message to general controllers, sets a Sync message transmission request flag to 0, 1) < / RTI >

In the present invention, when the gateway transmits a message to the general controller, checking whether the general controller has received a synchronization message as a message reception interrupt is generated in the general controller; If the Sync message is received, the general controller reads the reception time slot index of the gateway from the Sync message and sets its transmission time slot index to be the same; Checking whether the generic controller is running a periodic timer; And if the periodic timer is being executed, the general controller terminates and restarts the periodic timer, and if the periodic timer is not being executed, starting the periodic timer.

In the present invention, if a cycle timer event occurs according to the start of the cycle timer, checking whether the general controller has received a sync message; Receiving a Sync message, checking if the general controller has a message to transmit in the current transmission time slot; If the message to be transmitted is present in the current transmission time slot, the general controller transmits a message to the gateway and increases the transmission time slot index by 1.

According to an aspect of the present invention, there is provided a method for controlling a message transmission start time, synchronizing start time of message transmission of other controllers in a vehicle, sorting a transmission order of messages routed through a gateway, It is possible to reduce the message reception load of the gateway and to reduce the period error rate of the periodic message.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an exemplary diagram showing a schematic configuration of a general gateway communication system; FIG.
BACKGROUND OF THE INVENTION Field of the Invention [0001]
FIG. 3 is an exemplary diagram illustrating a configuration of a time slot table for receiving a periodic message in FIG. 2; FIG.
FIG. 4 illustrates an exemplary method of transmitting and receiving a sync message for synchronizing transmission and reception of a periodic message in FIG. 2; FIG.
FIG. 5 and FIG. 6 are flowcharts for explaining a processing method when a communication message reception interruption of a gateway occurs in FIG. 2; FIG.
FIG. 7 is a flowchart for explaining an interrupt processing operation for message transmission by the gateway in FIG. 2; FIG.
FIG. 8 is a flowchart for explaining a method of processing a periodic timer of the gateway in FIG. 7; FIG.
FIG. 9 is a flowchart for explaining an interrupt processing operation for message reception by the general controller in FIG. 2; FIG.
10 is a flowchart for explaining a cycle timer processing method of the general controller in FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a periodic message transmission / reception method of a gateway for a vehicle according to the present invention will be described with reference to the accompanying drawings.

In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

2 is a flowchart illustrating a method for transmitting and receiving a periodic message of a gateway for a vehicle according to an exemplary embodiment of the present invention.

2, the gateway 110 according to the present embodiment (i.e., the gateway controller) checks whether a communication (e.g., CAN) message reception interrupt occurs (S101), and when a communication message reception interrupt occurs The message reception counter value is increased (S102).

The check step (S101) of generating a reception interrupt of the communication message and the incrementing step (S102) of a message reception counter value are repeatedly performed each time a message is received, and the message reception counter value is a predetermined number : N).

Accordingly, when receiving a communication message by the number of the designated target reception messages (for example, N), the gateway (i.e., gateway controller) 110 transmits a message buffer (i.e., N message reception buffers in which the received message is stored) (Not shown) (S103).

Next, the gateway (i.e., gateway controller) 110 copies the received message (or data) to the message buffer (i.e., N message receiving buffers in which the received message is stored) (Or sends to the general controller) an application (e.g., an application that processes or delivers a received message) (S105).

At this time, the step of copying the received message (S104) and the step of notifying the copied message (S105) are repeatedly performed by the number of the designated target received messages (for example, N).

3 is an exemplary diagram illustrating a configuration of a time slot table for receiving a periodic message in FIG.

As shown in FIG. 3, the gateway 110 (i.e., the gateway controller) checks a periodical message to be received based on a specific communication database (e.g., a CAN database) Can be set.

For example, assuming that the message reception period is 5 ms and the message to be received has a period of 20 ms and 40 ms, respectively, the number of target reception messages per received time slot index is as follows. That is, the reception time slot index is incremented by 1 every reception period (e.g., 5 ms) and increases to K value (where K = (M / reception period) - 1 if the maximum value of the message periods to be received is M) And is reinitialized.

In other words, since the maximum value of the period of the message is 40 ms in the above example, the total number of reception time slots is 8, the index is increased to 7, and is initialized to 0 again.

Accordingly, the gateway (i.e., gateway controller) 110 constructs a transmission time slot table for periodic message transmission in the same manner as the reception time slot table, and transmits a message allocated for each time slot index.

FIG. 4 is a diagram illustrating an exemplary method of transmitting and receiving a sync message for synchronizing transmission and reception of a periodic message in FIG.

In this embodiment, the generic controllers 120-140 send Ready messages to the gateway (i.e., gateway controller) 110 after starting the system (e.g., the vehicle's communication system). For reference, message IDs are the same between controllers and each carries its own network address.

The general controllers 120 to 140 start a periodic timer on the basis of a periodic synchronization message received from the gateway (i.e., gateway controller) 110, Increases the index, and sends the message assigned to the increased current index to the gateway (i.e., gateway controller) 110.

The gateway (i.e., gateway controller) 110 receives a Ready message from all the general controllers 120 to 140 registered on a database (not shown) and sends a Sync message to the general controller 120 to 140).

The gateway (i.e., gateway controller) 110 transmits a Sync message and starts a cycle timer based on the transmission completion time.

The gateway (i.e., gateway controller) 110 inserts a current reception time slot index value into a synchronization message and transmits the same.

The gateway (i.e., gateway controller) 110 increases the reception time slot index every time a timer event occurs (e.g., every 5 ms reception period) after transmitting a Sync message.

The gateway (i.e., the gateway controller) 110 calculates an error of the received periodic message (e.g., an error in which a message is not transmitted within a specified period), and outputs a Sync message To the general controllers (120-140).

If the number of currently received messages is equal to the number of target received messages on the received time slot index, the gateway (i.e., gateway controller) 110 transmits all received messages on another channel (e.g., a transmission channel, channel 2).

The gateway (i.e., the gateway controller) 110 transmits the received message to the destination channel in ascending order of message ID when transmitting the message on another channel (e.g., transmission channel, channel 2). In this case, the order is changed when a message is received at a destination (for example, a general controller), so that a periodic error may occur. For example, when a system (for example, a communication system of a vehicle) is initialized, a message ID to be received is allocated to a message reception buffer. When an index of a message reception buffer and an ID of a message are sorted in ascending order, : Transmission channel, channel 2), it can be transmitted in the order of the indexes of the message reception buffers without performing a separate ID sort operation.

FIG. 5 and FIG. 6 are flowcharts for explaining a processing method when a communication message reception interruption of a gateway occurs in FIG.

5, when a communication message reception interrupt occurs (S201), the gateway (i.e., gateway controller) 110 determines whether a Ready message has been received (S202).

That is, the gateway (i.e., gateway controller) 110 checks whether a value of a ready message reception flag (e.g., flag set to 1 when receiving a ready message) is "1 ".

If the Ready message is not received (NO in S202) (i.e., the ready message reception flag is 0) as a result of the check (S202), the gateway (i.e., gateway controller) (S203).

Next, the gateway (i.e., the gateway controller) 110 checks whether a Ready message has been received from all the general controllers 120 to 140 registered on the database (S204).

If the Ready message is received from all the general controllers 120 to 140 as a result of the check (S204) (Yes in S204), the gateway (i.e., gateway controller) 110 sets the Ready message reception flag value to 1 (S205), and transmits a sync message to the general controllers 120-140 (S206).

If it is determined in step S202 that the Ready message reception flag is set to '1', a READY message is received (YES in step S202) or a Ready message is received from all the general controllers 120-140 The gateway (i.e., the gateway controller) 110 transmits a Sync message to the general controllers 120 to 140 (S206) after not receiving the synchronization message (No in S204) It is checked whether the transmission flag value is 1 (S207) (see Fig. 6).

As a result of the check (S207), if the Sync message transmission flag value is 1 (YES in S207), the gateway (i.e., the gateway controller) 110 determines whether the number of target reception messages mapped to the reception time slot index is 0 (S208).

As a result of the check (S208), if the number of target reception messages mapped to the reception time slot index is not 0 (NO in S208) (that is, if at least one target reception message number is mapped in the reception time slot index) That is, the gateway controller 110 increments the message reception count by 1 (S209).

Next, the gateway (i.e., the gateway controller) 110 checks whether the message reception count is equal to the designated target received message number (S210).

If it is determined in step S210 that the message reception count is equal to the predetermined target number of received messages (YES in step S210), the gateway (i.e., the gateway controller) 110 searches for a message reception buffer (not shown) (I.e., confirms whether there is an incoming message).

After retrieving the message reception buffer (not shown), the gateway (i.e., gateway controller) 110 checks whether the received message is out of tolerance error (S212).

If the received message is out of the allowable period error (S212) as a result of the check (S212), the gateway (i.e., the gateway controller) 110 sets the synchronization message transmission request flag to 1 S213).

If the received message does not deviate from the allowable period error (NO in S212), the gateway (i.e., gateway controller) 110 sets the Sync message transmission request flag to 1, (S214), and transmits it to the general controllers 120 to 140 (S215).

7 is a flowchart for explaining an interrupt processing operation for message transmission by the gateway in FIG.

As shown in FIG. 7, the gateway (i.e., gateway controller) 110 checks if transmission of a sync message is completed (S302) when a message transmission interrupt occurs (S301).

As a result of the check (S302), when the transmission of the sync message is completed (YES in S302), the gateway (i.e., the gateway controller) 110 sets the sync message transmission flag to 1 (S303) , The cycle timer is restarted (S304).

FIG. 8 is a flowchart for explaining a method of processing the periodic timer of the gateway in FIG. 7; FIG.

8, when a periodic timer event occurs (S401), the gateway (i.e., the gateway controller) 110 checks whether a Sync message request flag value is set to 1 (S402) .

As a result of the check (S402), if the Sync message request flag is set to 1 (YES in S402), the gateway (i.e., gateway controller) 110 transmits a Sync message to the general controller 120 (S403), sets a synchronization message transmission request flag to 0 (S404), and increments the reception time slot index by 1 (S405).

If the Sync message request flag is not set to '1' after the periodic timer event occurs (S401) (NO in S402), the gateway (ie, gateway controller) It is checked whether the number is equal to the number of designated target received messages (S408).

As a result of the check (S408), if the message reception count is equal to the designated target reception message count (YES in S408), the gateway (i.e., gateway controller) 110 immediately increases the reception time slot index by 1 (S405) . However, if the message reception count is not equal to the pre-designated target number of received messages (NO in S408), the gateway (i.e., gateway controller) 110 transmits a Sync message to the general controllers 120-140 (S403), the sync message transmission request flag is set to 0 (S404), and the received time slot index is incremented by one (S405).

Next, it is checked whether the reception time slot index has reached a maximum value (S406).

If it is determined in step S406 that the received time slot index has reached the maximum value (YES in step S406), the gateway (i.e., the gateway controller) 110 initializes the received time slot index in step S407.

FIG. 9 is a flowchart illustrating an interrupt processing operation for receiving a message of the general controller in FIG.

As shown in FIG. 9, the general controllers 120 to 140 check if a message reception interrupt occurs (S501) and whether a sync message has been received (S502).

As a result of the check (S502), if the Sync message has been received (YES in S502), the general controllers 120 to 140 receive Sync messages from the gateway (i.e., gateway controller) The slot index is read and its own transmission time slot index is set to be the same (S503).

Next, the general controllers 120 to 140 check whether the cycle timer is being executed (S504).

If it is determined in step S504 that the cycle timer is being executed (YES in step S504), the general controllers 120 to 140 terminate the cycle timer in step S505 and start the cycle timer in step S506 (i.e., restart) If the cycle timer is not being executed (NO in S504), the cycle timer is started (S506).

10 is a flowchart for explaining a cycle timer processing method of the general controller in FIG.

As shown in FIG. 10, when a periodic timer event occurs (S601), the general controllers 120 to 140 check whether a sync message has been received (S602).

As a result of the check (S602), if the synchronization message is received (S602), the general controllers 120 to 140 check whether there is a message to be transmitted in the current transmission time slot (S603).

If it is determined in step S603 that there is a message to be transmitted in the current transmission time slot (YES in step S603), the general controllers 120 to 140 transmit the message to the gateway (i.e., gateway controller) 110 ), And increments the transmission time slot index by 1 (S605).

As described above, the present embodiment synchronizes the start time of message transmission of other controllers in the vehicle through the in-vehicle gateway, arranges the transmission order of the messages routed through the gateway, manages the reception message through the time slots, Thereby reducing the message reception load of the gateway and reducing the period error rate of the periodic message.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, I will understand the point. Accordingly, the technical scope of the present invention should be defined by the following claims.

110: Gateways 120-140: General controller

Claims (9)

Checking whether a gateway for a car is receiving a message reception interrupt;
Increasing the message reception counter value when the message reception interrupt occurs;
Receiving a message corresponding to a predetermined number of target received messages, the gateway searching for a message receiving buffer; And
The gateway copying the received message into the message receiving buffer and notifying the upper application or transmitting the message to the general controller,
When the message reception interrupt occurs,
Checking whether a value of a Ready message reception flag of the gateway is set to 1;
If the ready message reception flag is set to 0, searching the message reception buffer by the gateway;
Checking whether the gateway has received a Ready message from all common controllers registered on the database; And
Setting a ready message reception flag value to 1 and transmitting a synchronization message to all the general controllers when the gateway receives a Ready message from all the general controllers; And transmitting and receiving the periodic message of the vehicle gateway.
The method according to claim 1,
And the step of incrementing the message reception counter value is repeatedly performed each time a message is received, and the number of target reception messages is specified in advance in the message reception counter value. And transmitting and receiving the periodic message of the vehicle gateway.
The method as claimed in claim 1, wherein the step of copying the received message to the message reception buffer and notifying the upper application of the message or transmitting the copied message to the general controller,
Wherein the periodic message is repeatedly performed as many times as the designated target received message number.
delete The method according to claim 1,
If the Ready message is received or a Ready message is not received from all the general controllers or a Sync message is sent to the general controllers, Checking whether the value is 1:
If the Sync message transmission flag is 1, the gateway checks whether the number of target reception messages mapped to the reception time slot index is 0. If the number of target reception messages mapped to the reception time slot index is not 0, Increasing the reception count by 1;
Checking whether the message reception count is equal to a predetermined target number of received messages and searching for a message reception buffer if the message reception count is equal to a predetermined target number of received messages;
After searching the message reception buffer, the gateway checks whether the received message is out of the allowable period error. If the received message is out of the allowable period error, the Sync message transmission request flag is set to 1 ; And
And if the received message does not deviate from the allowable period error or the synchronization message transmission request flag is set to 1, the gateway copies the received message and transmits the copied message to all the general controllers Wherein said periodic message transmission / reception method comprises the steps of:
2. The method of claim 1, further comprising:
Checking if the transmission of the Sync message is completed by the gateway when a message transmission interrupt occurs;
When the transmission of the Sync message is completed, the gateway sets the Sync message transmission flag to 1 and restarts the periodic timer;
If the periodic timer event occurs due to the restart of the periodic timer, the gateway checks whether a Sync message request flag value is set to 1;
If the Sync message request flag is set to '1', the gateway transmits a Sync message to the general controller, sets a Sync message transmission request flag to 0, Incrementing the index by 1; And
Checking whether the received time slot index has reached a predefined maximum value, and if the received time slot index has reached a maximum value, the gateway initializing a received time slot index. / RTI >
7. The method of claim 6, wherein if the periodic timer event occurs,
If the sync message request flag value is not set to 1, the gateway checks whether the message reception count is equal to the designated target received message count;
If the message reception count is equal to a predefined number of target received messages, the gateway immediately increments the received time slot index by one; And
If the message reception count is not equal to the pre-designated target number of received messages, the controller transmits a Sync message to general controllers, sets a Sync message transmission request flag to 0, and then sets the reception time slot index to 1 And transmitting the periodic message to the vehicle gateway.
The method of claim 1, wherein, when the gateway sends a message to a general controller,
Checking whether the general controller has received a synchronization message when a message reception interruption is generated in the general controller;
If the Sync message is received, the general controller reads the reception time slot index of the gateway from the Sync message and sets its transmission time slot index to be the same;
Checking whether the generic controller is running a periodic timer; And
And if the periodic timer is being executed, the general controller terminates the periodic timer and restarts the periodic timer, and if the periodic timer is not being executed, starting the periodical timer.
9. The method of claim 8,
When a cycle timer event occurs according to the start of the cycle timer,
Checking whether the general controller has received a Sync message;
Receiving a Sync message, checking if the general controller has a message to transmit in the current transmission time slot;
And if the message is to be transmitted in the current transmission time slot, the general controller transmits a message to the gateway and increases the transmission time slot index by one.

Images