KR101956454B1 - Method for receiving and transmitting message of vehicle based on tsn - Google Patents

Abstract

A method of transmitting and receiving a message in a TSN (Time-Sensitive Network) based vehicle is disclosed. A method of transmitting / receiving a message includes: performing time synchronization using reference time information of a grandmaster vehicle; And transmitting the message generated at the TSN node through the intervehicle communication network to the adjacent vehicle based on the synchronized time, wherein the in-vehicle network of the grandmaster vehicle and the adjacent vehicle is the TSN.

Description

≪ Desc / Clms Page number 1 > METHOD FOR RECEIVING AND TRANSMITTING MESSAGE OF VEHICLE BASED ON TSN &

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method for transmitting / receiving messages between vehicles, and more particularly, to a method for transmitting / receiving messages in a TSN (Time-Sensitive Network) based vehicle.

Recently, research on V2V has been going on steadily, and inter - vehicle communication is emerging as a core technology for operating autonomous vehicles. Safety messages, traffic efficiency messages, infotainment messages, etc. transmitted and received through inter-vehicle communication can be transmitted and received. For safety operation of autonomous vehicles, safety messages between vehicles need to be transmitted and received without delay and without delay.

Currently, there is a WAVE (IEEE 802.11P) standard as a standard related to communication between vehicles. In the WAVE standard, the maximum delay time of the safety message exchange is set to 100 ms in the highway environment, and the transmission period of the safety message is 50 ms. These safety messages are transmitted and received in an event triggered manner. That is, when an event requiring transmission and reception of a safety message occurs, for example, in the event of a traffic accident, it is transmitted and received.

Since WAVE communication is based on CSMA / CD method, when communication traffic increases, possibility of loss of message packets increases. Since safety messages are transmitted and received intensively when specific events occur, The case of not receiving can be increased.

Related prior arts include Korea Patent Publication No. 2012-0123900 and Korean Patent No. 10-1596756.

The present invention is to provide a method of transmitting and receiving a message of a TSN (Time-Sensitive Network) -based vehicle.

In particular, the present invention is to provide a message transmission / reception method capable of reducing a transmission / reception delay of a safety message using a TSN and reducing loss of a safety message.

According to another aspect of the present invention, there is provided a method of transmitting / receiving a TSN-based vehicle, the method comprising: performing time synchronization using reference time information of a grand master vehicle; And transmitting the message generated at the TSN node through the intervehicle communication network to the adjacent vehicle based on the synchronized time, wherein the in-vehicle network of the grandmaster vehicle and the adjacent vehicle is connected to the Time-Sensitive Network ) Is provided.

According to another aspect of the present invention, there is provided a method of transmitting / receiving a TSN-based vehicle message, the method comprising: joining a plurality of vehicle TSNs to a network connected through an intervehicular communication network; Receiving a message from a first neighbor vehicle of the network; And transmitting the received message to a second neighbor vehicle of the network, wherein the network is a network through which a message is transmitted and received, according to a TSN time trigger scheme.

According to the present invention, since the delay in transmitting and receiving messages between vehicles is reduced, the vehicles can braking more quickly in a dangerous situation and the risk of accidents can be reduced.

In addition, according to the present invention, since a message is transmitted / received according to a predetermined time schedule based on a time trigger method, the phenomenon of traffic increase due to the occurrence of a specific event can be solved and the message loss can be reduced.

1 is a view for explaining a TSN network including a plurality of vehicles according to an embodiment of the present invention.
2 is a diagram for explaining the relationship between the WAVE network and the TSN.
FIG. 3 is a view for explaining the degree of delay of the transmission and reception of the safety message according to the present invention and the degree of delay of transmission and reception of the safety message of the WAVE.
4 is a flowchart illustrating a method of transmitting / receiving a message of a TSN-based vehicle according to an embodiment of the present invention.
5 is a diagram for explaining a WSM frame including reference time information.
6 is a flowchart illustrating a method of transmitting and receiving a message of a TSN-based vehicle according to another embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes 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.

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

FIG. 1 is a view for explaining a TSN network including a plurality of vehicles according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining a relationship between a WAVE network and a TSN.

TSN (Time-Sensitive Network) is one of the time-controlled networks (TCN) of the Ethernet layer as one of ultra-low-delay infrastructure technologies. TSN is an extension of the AVB (Audio Video Bridging) technology, which is a professional audio / video transmission technology. Recently, there is a move to introduce TSN into the In Vehicle Network (IVN).

Currently, CAN is widely used as an in-vehicle network. As the number of electronic controllers in a vehicle continuously increases and interworking with various external devices becomes possible, not only the traffic of the in-vehicle network increases but also the transmission delay , TSN is emerging as an alternative to CAN.

Unlike WAVE, TSN sends and receives messages in a time triggered manner. In other words, the node constituting the TSN, for example, the navigation of the vehicle or the ECU, are synchronized with each other in the time domain and transmit / receive messages according to the predetermined time schedule irrespective of the event. In other words, the timing of sending and receiving messages is adjusted according to the synchronized time. And the maximum delay time of message in TSN environment is 100us in 5 hop.

Accordingly, the present invention proposes a message transmission / reception method of a TSN-based vehicle, considering that a delay of a message transmitted / received between vehicles can be further reduced when a single TSN is assembled by grouping TSN-based vehicles.

As shown in FIG. 1, the present invention forms one TSN network 110, 120 between TSN-based vehicles, that is, vehicles using the TSN as an in-vehicle network. And the vehicles included in one TSN network are synchronized with each other and transmit / receive messages according to the time trigger method. Messages transmitted and received between vehicles included in one TSN network are handled according to a time trigger method. However, since the TSN is an in-vehicle network, it can not support mobility between vehicles, and therefore messages can be transmitted and received through a WAVE network.

For example, the vehicles 111, 112, and 113 included in the first TSN network 110 transmit and receive messages to each other according to a predetermined time schedule. 2, a message is generated at the ECU 210, which is one of the TSN nodes of the first vehicle 111, and is transmitted to the WAVE gateway 240 via the TSN 230, which is the IVN 220. The message is then received at the WAVE gateway 260 of the second vehicle 112 via the WAVE network 250. Likewise, a message may be generated at ECU 290, which is one of the TSN nodes of second vehicle 112, and transmitted to WAVE gateway 260 via TSN 270, which is IVN 280. The message is then received at the WAVE gateway 240 of the first vehicle 111 via the WAVE network 250.

1, if there is a vehicle 130 that does not support TSN among the TSN networks, the vehicle 130 that does not support the TSN can send and receive messages with the event triggering method of WAVE with other vehicles .

Meanwhile, although FIG. 2 illustrates a case where a message is generated by the ECU among the TSN nodes, the message may be generated by another TSN node according to an embodiment of the present invention.

FIG. 3 is a view for explaining the degree of delay of the transmission and reception of the safety message according to the present invention and the degree of delay of transmission and reception of the safety message of the WAVE.

In Fig. 3, there is shown a situation in which the vehicles run in a line, in which an accident occurs in the foremost vehicle 310, 320 and a safety message transmitted from the foremost vehicle is transmitted to the following vehicles.

 3 (a), when a safety message is delivered according to the WAVE event triggering method, since the message is delivered in a cycle of 50 ms, the following vehicles are suddenly stopped every 50 ms after the foremost vehicle is abruptly stopped, The risk of collision can increase.

However, as shown in FIG. 3 (b), when a plurality of vehicles constitute the TSN network 330 and a safety message is delivered according to the TSN time trigger scheme, since the message is delivered in several tens of us cycles, It is possible to stop quickly and therefore the risk of collision between vehicles can be reduced.

As a result, according to the present invention, since the transmission / reception delay between vehicles is reduced, the vehicles can be braked more quickly in a dangerous situation and the risk of accident can be reduced.

In addition, according to the present invention, since a message is transmitted / received according to a predetermined time schedule based on a time trigger method, the phenomenon of traffic increase due to the occurrence of a specific event can be solved and the message loss can be reduced.

FIG. 4 is a flowchart illustrating a method of transmitting and receiving a message of a TSN-based vehicle according to an embodiment of the present invention. FIG. 5 is a view for explaining a WSM frame including reference time information.

The TSN-based vehicle according to the present invention performs time synchronization using the reference time information of the GrandMaster (GM) vehicle (S410). The Grand Master vehicle is also a vehicle that uses TSN as an in-vehicle network.

The grand master is a node that provides a reference time. The grand master vehicle is a vehicle located in a middle of the vehicles positioned within a predetermined area so that the transmitted message can be efficiently and reliably transmitted within one TSN network, The vehicle may be the highest vehicle among the vehicles positioned within the vehicle. For example, in the first TSN network 110 of FIG. 1, the second vehicle 112 may be the grandmaster vehicle, and when the truck 130 of FIG. 1 supports the TSN, the truck 130 may be the grandmaster vehicle .

The vehicles can determine the position of the nearby vehicles through the location information included in the WSM (Wave Short Message) frame, which will be described later, to determine whether the vehicle is located in the middle of the vehicles located within the predetermined area. Alternatively, the type of the surrounding vehicle and the type of the vehicle are compared through the vehicle information included in the WSM frame, and it can be determined that the vehicle having the highest height is the vehicle. For example, as shown in Fig. 1, when confirming that the second vehicle 112 is located at the center, the second vehicle 112 may transmit information indicating that the vehicle is a grand master vehicle, in the WSM frame. Or if the surrounding vehicles of the truck 130 are all passenger cars, the truck 130 may transmit information indicating that the vehicle is the grandmaster vehicle, in the WSM frame.

Alternatively, depending on the embodiment, the grandmaster vehicle may be selected by the intervehicle communication network base station, rather than by the vehicle itself. The inter-vehicle communication network base station can receive information on the vehicles traveling on the road, determine the grand master vehicle that meets the conditions described above, and guide the vehicle to the vehicle.

Referring again to FIG. 4, the TSN-based vehicle transmits a message generated in the TSN node to the adjacent vehicle through the inter-vehicle communication network based on the synchronized time (S420). That is, the TSN-based vehicle synchronizes the time of the vehicle at the reference time and transmits the message according to the predetermined time schedule based on the synchronized time. The neighboring vehicle can also perform time synchronization using reference time information. The in-vehicle network of the adjacent vehicle is a TSN, and the message may be a secure message.

When the TSN-based vehicle receives the reference time information from the grand master vehicle, the TSN-based vehicle needs to perform time synchronization considering the propagation delay time with the grand master vehicle. The propagation delay time is required for transmitting and receiving the radio signal including the reference time information, and the time synchronization can be accurately performed by considering this. In order to consider the propagation delay time, information on the distance to the grand master vehicle or the time when the reference time information is transmitted from the grand master vehicle is required. This information may be included in the WSM frame of the WSMP (Wave Short Message Protocol) along with the reference time information. In other words, the propagation delay time can be calculated according to the timing information or position information included in the WSM frame.

Referring to FIG. 5, the reference time information may be included in the WSM data field among a plurality of fields constituting the WSM frame 500 according to the short message protocol of the WAVE. More specifically, the WSM data field includes a priority field 510, an update time field 520, a location field 530, and a time field 540.

The priority field 510 is assigned a value representing the grandmaster vehicle. That is, the vehicle selected as the grandmaster vehicle assigns a value indicating that it is the grandmaster vehicle to the priority field 510, and the other vehicle does not assign the value to the priority field 510.

The update time field 520 contains the time information of the vehicle transmitting the message. Since the vehicle can confirm the reception time of the WSM frame, the transmission time can be confirmed through the time information of the vehicle transmitting the message, so that the propagation delay time can be calculated through the time information.

The location field 530 contains the location information of the vehicle transmitting the WSM frame. As described above, the grand master vehicle can be determined through the position information. And, since the position of the grand master vehicle can be confirmed through the position information, the distance between the car and the grand master vehicle can be calculated, and the propagation delay time can be calculated through the propagation speed.

The time field 540 includes reference time information. Depending on the situation, the Grand Master vehicle can be changed, in which case the reference time information will also change. When the grand master vehicle is changed, the time information stored in the update time field 520 may be used as reference time information, and the reference time information of the time field 540 may be updated with the time information stored in the update time field 520 .

6 is a flowchart illustrating a method of transmitting and receiving a message of a TSN-based vehicle according to another embodiment of the present invention.

The TSN-based vehicle according to the present invention joins (S610) a plurality of vehicle TSNs to a network connected through the inter-vehicle communication network. Here, the network corresponds to the TSN networks 110 and 120 of FIG. 1 described above, and messages are transmitted and received according to the time triggering method of the TSN in the network.

The TSN included in the network is synchronized according to the reference time information received from the grand master vehicle, and the TSN based vehicle can join the network, i.e., the TSN network, by performing time synchronization using the reference time information of the grand master vehicle.

After joining the TNS network, the TSN-based vehicle receives a message from the first neighbor vehicle of the network (S620) and transmits the received message to the second neighbor vehicle of the network (S630).

Since the TSN-based vehicle is also connected to the WAVE network, it can be placed in an environment receiving not only a safety message but also various messages. The message transmission / reception method according to the present invention is intended to reduce the delay in message transmission / reception, Especially for sending and receiving safety messages. Accordingly, in step S630, the TSN-based vehicle may determine whether the received message is a safety message, and may transmit the received message to the second adjacent vehicle according to the determination result. An identifier according to the type may be assigned to the message.

In other words, the safety message is transmitted and received in the TSN network according to the TSN time trigger method, and other infotainment messages can be transmitted and received according to the WAVE event triggering method.

The above-described technical features may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Claims (10)

A method of transmitting and receiving a message in a TSN-based vehicle,
Performing time synchronization using reference time information of a grand master vehicle, which is included in a WSM (Wave Short Message) frame of a WSMP (Wave Short Message Protocol) and transmitted; And
And transmitting to the neighboring vehicle a message generated at the TSN node via the intervehicle communication network based on the synchronized time,
The data field of the WSM frame is
A priority field in which a value indicating the grandmaster vehicle is designated;
An update time field including time information of a vehicle transmitting the message;
A location field including location information of the vehicle transmitting the WSM frame; And
And a time field including the reference time information,
Wherein the in-vehicle network of the grand-master vehicle and the neighboring vehicle, which are vehicles determined to be located in the middle of the vehicles positioned in the predetermined area, according to the positional information, are the TSN (Time-Sensitive Network)
A method for transmitting and receiving a message.
The method according to claim 1,
The step of transmitting the message to an adjacent vehicle
Transmits the message to the neighboring vehicle according to a TSN time trigger scheme,
The neighboring vehicle is a vehicle that has performed time synchronization according to the reference time information
A method for transmitting and receiving a message.
delete delete The method according to claim 1,
The step of performing time synchronization
The time synchronization is performed in consideration of a propagation delay time with the grand master vehicle,
The propagation delay time is
Is calculated according to the time information included in the update time field or the position information included in the position field
A method for transmitting and receiving a message.
delete The method according to claim 1,
The grand master vehicle
Selected by the base station of the intervehicle communication network
A method for transmitting and receiving a message.
The method according to claim 1,
The message
Safety message
A method for transmitting and receiving a message.
delete delete

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