KR102485286B1 - Master controller of vehicle, slave controller of vehicle, and task scehduling message sending mehotd thereof - Google Patents

Abstract

A vehicle master controller according to a preferred embodiment of the present invention includes a table storage unit in which a schedule table including scheduling information related to task performance of each of a plurality of slave controllers is stored, and a scheduling can message including the scheduling information of the schedule table. It includes a message generator to generate a message, and a transceiver to transmit the scheduling can message to the plurality of slave controllers.

Description

Vehicle master controller, vehicle slave controller, and task performance method of vehicle slave controller

The present invention relates to a master controller for a vehicle, a slave controller for a vehicle, and a method for performing a task of a slave controller for a vehicle.

Recently, various types of electronic systems are mounted on vehicles, and a plurality of controllers for controlling corresponding electronic systems are mounted. A plurality of vehicle controllers are connected to each other through a vehicle communication system, and enable various vehicle functions to be performed by sharing information with each other.

When such a controller for a vehicle performs a task within an operating system (OS), a scheduling technology for synchronization with other controllers connected to a CAN bus is required.

On the other hand, recently, various electronic control systems such as advanced driver assistance systems (ADAS) with increased complexity have been applied to vehicles.

In order to perform the task of such an electronic control system application, interlocking of a plurality of controllers is required because there is a limit to only a single vehicle controller.

In order to interoperate a plurality of controllers, a technology for implementing a scheduling algorithm related to task execution time in each of the plurality of controllers is required.

Currently, a technology for implementing a scheduling algorithm has been proposed in several ways. Among the many methods, in the case of a method for producing separate software that implements synchronization between a plurality of controllers, securing reliability for the operation of the software and adding an OS are more important. required, and this causes a problem of increasing cost and development difficulty, and accordingly, the above-mentioned method is not defined as industrial standardization.

Republic of Korea Patent Publication No. 2020-0056838

Therefore, the present invention has been made in view of the above circumstances, and provides a vehicle master controller, a vehicle slave controller, and a method of performing a task of a vehicle slave controller that implements a task scheduling algorithm between a plurality of controllers using vehicle can communication aims to

A vehicle master controller according to a preferred embodiment of the present invention for achieving the above object includes a table storage unit storing a schedule table including scheduling information related to task performance of each of a plurality of slave controllers; a message generating unit generating a scheduling can message to include the scheduling information of the schedule table; and a transceiver for transmitting the scheduling can message to the plurality of slave controllers.

The scheduling can message may include a data frame including an identifier field in which a message ID corresponding to the scheduling can message is input and a data field in which the scheduling information is input.

The data field is divided based on 1 byte and includes a plurality of sub data fields, and the scheduling information may be input to each of the plurality of sub data fields.

The scheduling information includes an ECU ID indicating an ID of a slave controller to perform the task, a TASK ID capable of identifying the task, a TASK Priority indicating the priority of the task, and a table for specifying an offset time for the start time of the task. It may include a TASK Start Offset Time Table Index indicating an index value, a TASK Duration Table Index indicating a table index value for setting the duration of the task, and a TASK Function Table Index indicating a table index value for setting the function of the task.

In order to achieve the above object, a vehicle slave controller according to a preferred embodiment of the present invention receives a scheduling can message including scheduling information from a master controller, performs a task according to the scheduling information, and refers to the scheduling information. It is characterized in that a reference table including table values is stored.

The table value may include offset time, task function, and duration.

When there is a request for changing the operation period of a task, the offset time and duration of the table value for the task having the request for changing the operation period may be changed.

To achieve the above object, a task performing method of a vehicle slave controller according to a preferred embodiment of the present invention includes a scheduling information request step of requesting scheduling information from a master controller; a receiving step of receiving a scheduling can message including the scheduling information from the master controller; and a task performing step of performing a task according to the scheduling information.

An operation period determination step of determining whether the operation period of the task needs to be changed may be further included.

If it is necessary to change the operation cycle of the task, a value change step of changing a table value of a pre-prepared reference table may be further included.

In the value changing step, an offset time and duration of the table value related to the operation period of the task may be changed.

According to a vehicle master controller, a vehicle slave controller, and a method for performing a task by a vehicle slave controller according to a preferred embodiment of the present invention, a scheduling can message including task scheduling information is transmitted through vehicle can communication, thereby enabling communication between a plurality of controllers. A task scheduling algorithm can be implemented.

In addition, since the development and application of separate software for implementing the task scheduling algorithm is not required, an increase in cost due to this is not required.

In addition, there is an effect of preventing an increase in cost due to the use of a specific OS.

In addition, since the development and application of additional software for synchronization in the OS is not required, an increase in cost due to this is not required.

1 is a block diagram of a vehicle master controller and a vehicle slave controller according to a preferred embodiment of the present invention.
FIG. 2 is a diagram showing a schedule table of the master controller of FIG. 1 and a task function of a slave controller.
3 is a diagram showing a standard data frame of a scheduling can message according to a preferred embodiment of the present invention.
FIG. 4 is a diagram showing a process of performing a task using a scheduling can message of the slave controller of FIG. 1 in a time flow.
5 is a flowchart of a method of performing a task by a slave controller for a vehicle according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, although preferred embodiments of the present invention will be described below, the technical idea of the present invention is not limited or limited thereto and can be modified and implemented in various ways by those skilled in the art.

1 is a block diagram of a vehicle master controller and a vehicle slave controller according to a preferred embodiment of the present invention. FIG. 2 is a diagram showing a schedule table of the master controller of FIG. 1 and a task function of a slave controller.

Referring to FIGS. 1 and 2 , the vehicle master controller 100 according to a preferred embodiment of the present invention transmits a scheduling CAN message to a plurality of slave controllers through a vehicle CAN bus, without separate software. It is characterized in that a task scheduling algorithm of each of a plurality of slave controllers is implemented through a scheduling can message.

When receiving a scheduling can message from the master controller 100, the vehicle slave controller is characterized in that it performs a task using scheduling information included in the scheduling can message.

A plurality of vehicle slave controllers may be provided. The plurality of slave controllers may include a first slave controller 200 and a second slave controller 300 . The plurality of slave controllers may include a larger number of slave controllers for controlling an electronic control system of a vehicle having complex functions.

The vehicle master controller 100 according to a preferred embodiment of the present invention includes a table storage unit 110, a message generator 120, and a transceiver 130.

The table storage unit 110 may be a kind of memory device in which a schedule table is stored. Here, the schedule table may include scheduling information related to task performance of each of a plurality of slave controllers. Scheduling information may be prepared in advance according to the electronic control system of the vehicle to be controlled by the master controller 100 and the plurality of slave controllers.

The message generating unit 120 may generate a scheduling can message to include any one or more scheduling information of the schedule table. The message generating unit 120 may generate a scheduling can message according to a pre-prepared standard data frame.

The transceiver 130 may transmit the scheduling can message to a plurality of slave controllers. When receiving the scheduling can message, each of the plurality of slave controllers may process an internal task according to scheduling information included in the scheduling can message.

In one embodiment, the task includes a task that needs to be performed all the time and a task that does not need to be performed all the time. When a task that does not need to be performed at all times continues to operate, there is a problem in that other tasks prioritizing real-time performance are not smoothly operated due to a CPU load of the corresponding controller.

To solve this problem, the slave controller for a vehicle according to the present invention may request scheduling information for a diagnostic task from the master controller 100 when it is determined that it is necessary to perform a task (eg, a diagnostic task) that does not need to be performed at all times. . After receiving the scheduling can message from the master controller 100, the vehicle slave controller may perform a corresponding diagnosis task. Accordingly, the slave controller for the vehicle is provided with a method of arbitrarily turning on or off the diagnostic task, so that the diagnostic task can be operated only when necessary.

In one embodiment, in the case of a specific task, the operation period may be changed during run-time.

In the case of the watchdog task, the abnormal operation of the vehicle slave controller is monitored. Various tasks other than the watchdog task include factors that can determine whether the vehicle slave controller operates abnormally (e.g., whether Ethernet messages are transmitted or not, It already has the Alive Count of CAN messages and Peripheral I/O.

In addition, the watchdog task periodically monitors hardware failure states in units of hundreds of ms, but a period in units of 10 ms to 100 ms is required as a software specification, so it is excessively operated even in preparation for unforeseen situations.

The vehicle slave controller according to the present invention may adjust the operation period of a specific task such as a watchdog task. For example, the vehicle slave controller may increase the operation period of a specific task from 100 ms to 500 ms.

When receiving the scheduling can message from the master controller 100, the vehicle slave controller may perform a specific task with a changed operation cycle indicated by the scheduling can message. At this time, the vehicle slave controller can leisurely perform other tasks as important as the remaining CPU load in the corresponding section.

3 is a diagram showing a standard data frame of a scheduling can message according to a preferred embodiment of the present invention.

Referring to FIG. 3 , a standard data frame of a scheduling can message used in vehicle can communication can be checked. In FIG. 3, an arbitration field includes an identifier area and a remote transmission request (RTR) area. A message ID is input in the identifier field. The message ID is defined as a unique value in the vehicle. The message ID means an ID corresponding to the scheduling can message of the Linux-based vehicle master controller. A message ID may have a size of 11 bits. In one embodiment, the message ID may be expressed as 0x6FF, but is not limited thereto. A message ID can be defined as any identifiable value. The message ID affects the message transmission priority in case of collision of can messages through the can bus.

Scheduling information (or payload information) related to task execution time of each of a plurality of slave controllers is input to the Data field. The data field may be composed of ASCII code. The data field may have a maximum size of 8 bytes.

Since the remaining fields are included in a general CAN message frame, a detailed description thereof will be omitted.

Hereinafter, scheduling information input to the data field will be described with reference to Table 1.

Index 0 One 2 3 4 5 6 7 Scheduling information ECU ID TASK ID TASK Priority TASK Start Offset Time Table Index TASK Duration Table Index TASK Function Table Index Reserved Reserved

Referring to Table 1, the data field has a size of 8 bytes, and may include a plurality of sub data fields divided on the basis of 1 byte. The data field may be divided into 0th to 7th sub data fields. The 0th to 7th sub data fields correspond to indices 0 to 7. Scheduling information of the schedule table may be input to each of the 0th to 7th sub data fields.

An ECU ID among scheduling information may be input to the 0th sub data field corresponding to index 0. Here, the ECU ID represents the ID of the slave controller to perform the task. Since the scheduling can message is transmitted to all slave controllers connected to the CAN bus, the slave controller receiving the scheduling can message refers to the 0th sub data field to check whether it is the scheduling information requested from it.

A TASK ID among scheduling information may be input to the first sub data field corresponding to index 1. Here, TASK ID represents a unique ID capable of identifying a task.

TASK Priority may be input to the second sub data field corresponding to index 2. TASK Priority indicates the priority (for example, a value from 0 to 255) related to task execution.

A TASK Start Offset Time Table Index may be input to the third sub data field corresponding to index 3. TASK Start Offset Time Table Index indicates the table index value to designate the offset time for the task start time.

A TASK Duration Table Index may be input to the fourth sub data field corresponding to index 4. TASK Duration Table Index indicates the table index value to set the task duration (duration of execution).

A TASK Function Table Index may be input to the fifth sub data field corresponding to index 5. TASK Function Table Index indicates the table index value to set the function of the task.

Reserved may be input to the sixth sub data field and the seventh sub data field corresponding to index 6 and index 7, respectively. Reserved may indicate reserved information.

Tables 2 to 4 show reference tables referred to by TASK Start Offset Time Table Index, TASK Duration Table Index, and TASK Function Table Index of Table 1. This reference table may be previously stored in each of a plurality of slave controllers.

TASK Start Offset Time Table Index TASK Start Offset Time Table Value(ms) (=Index*1ms) 0 0 One One 2 2 3 3 … … 255 255

TASK Function Table Index TASK Function Table Value 0 NULL Function (NO Function) One FUNC_#1 2 FUNC_#2 3 FUNC_#3 … … 255 FUNC_#255

TASK Duration Table Index TASK Duration Table Value(ms) (=Index*1ms) 0 0 One One 2 2 3 3 … … 255 255

Referring to Tables 2 to 4, the slave controller that has received the scheduling can message reprocesses the format of the scheduling can message by referring to the value indicated by each index, and determines which scheduling function to execute. can

FIG. 4 is a diagram showing a process of performing a task using a scheduling can message of the slave controller of FIG. 1 in a time flow.

Referring to FIG. 4 , an operation example of the first slave controller 200 can be confirmed. First, the first slave controller 200 requests scheduling information for one function of a task (eg, Func#2) from the master controller 100 . In one embodiment, the first slave controller 200 may be configured to perform a first function (Func#1), a second function (Func#2), and a third function (Func#3) of a task. .

In response to this, the master controller 100 transmits a scheduling can message including scheduling information to the first slave controller 200 .

Then, the first slave controller 200 receives the scheduling can message. The first slave controller 200 checks the message ID in the identifier field of the scheduling can message. The first slave controller 200 checks whether the scheduling can message includes scheduling information by checking the message ID.

Then, when it is confirmed that the scheduling can message is received, the first slave controller 200 checks the scheduling information of the data field. The first slave controller 200 may check whether the ECU ID corresponds to itself and whether the TASK ID corresponds to the second function (Func#2) of the task requested by the first slave controller 200 . In one embodiment, the scheduling information included in the scheduling can message includes ECU ID = 1, TASK ID = 2, TASK Priority = 6, TASK Start Offset time = 2, TASK Duration time = 3 ms, TASK Function index = 2 can do.

When the confirmation of the ECU ID and the TASK ID is completed, the first slave controller 200 may perform the second function (Func#2) of the task for a duration of 3 ms after the offset time of 2 ms. The first slave controller 200 does not request new scheduling information for a task for 10 ms after receiving the scheduling can message.

Meanwhile, the first slave controller 200 may request scheduling information from the master controller 100 whenever it is necessary to perform the second function of the task (eg, Func#2).

The master controller 100 may transmit the scheduling can message again according to the request of the first slave controller 200 .

When there is a change request for the operation cycle of the second function (Func#2) of the task, the first slave controller 200 sets the offset time and duration of the second function (Func#2) in the reference table according to the change request. can be changed. In one embodiment, the first slave controller 200 may change the offset time for the second function (Func#2) from 2ms to 5ms and the duration from 3ms to 4ms.

When receiving the scheduling can message from the master controller 100, the first slave controller 200 may perform the above-described operation again. At this time, the first slave controller 200 may perform the second function (Func#2) of the task according to the changed offset time and duration. In this way, the first slave controller 200 can change the operation cycle of a specific task during runtime, so that another task can be performed during the corresponding operation cycle.

5 is a flowchart of a method of performing a task by a slave controller for a vehicle according to a preferred embodiment of the present invention.

Referring to FIGS. 1, 2, and 5 , a method of performing a task by a slave controller for a vehicle according to a preferred embodiment of the present invention includes an operation cycle determination step (S510), a value change step (S520), and a request step (S530). , a receiving step (S540), and a task performing step (S550).

In the operation cycle determination step (S510), the slave controller 200 determines whether the operation cycle of the task to be performed needs to be changed. Whether the operation cycle needs to be changed may be determined according to a user's need or an external request. In one embodiment, when the type of task is a specific task including a watchdog task, etc., the slave controller 200 may determine that the operation cycle of the task needs to be changed.

In the value change step (S520), the slave controller 200 changes the table value of a pre-prepared reference table if the operation cycle of the task needs to be changed. Here, the slave controller 200 may change the offset time and duration of table values.

In the request step (S530), the slave controller 200 requests scheduling information from the master controller 100 to perform the task.

In the receiving step (S540), the slave controller 200 receives a scheduling can message including scheduling information from the master controller 100. Here, the master controller 100 may generate a scheduling can message using scheduling information of a previously prepared schedule table.

In the task performing step (S550), the slave controller 200 performs the task according to the scheduling information of the scheduling can message.

The above description is merely an example of the technical idea of the present invention, and those skilled in the art can make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings. .

Steps and/or actions in accordance with the present invention may occur concurrently in different embodiments, in different orders, or in parallel, or for different epochs, etc., as would be understood by one skilled in the art. can

In some embodiments, some or all of the steps and/or actions may include instructions, programs, interactive data structures, clients and/or servers stored on one or more non-transitory computer-readable media. At least some of them may be implemented or performed using one or more processors that do. The one or more non-transitory computer-readable media may illustratively be software, firmware, hardware, and/or any combination thereof. Additionally, the functions of a “module” discussed herein may be implemented in software, firmware, hardware, and/or any combination thereof.

100: master controller
110: table storage unit
120: message generator
130: transceiver
200: first slave controller
300: second slave controller

Claims (11)

a table storage unit for storing a schedule table including scheduling information related to task performance of each of the plurality of slave controllers;
a message generating unit generating a scheduling can message to include the scheduling information of the schedule table; and
a transmitting/receiving unit transmitting the scheduling can message to the plurality of slave controllers;
including,
Wherein the transmission/reception unit transmits the scheduling can message to a slave controller whose task operation period is changed when a task operation period of at least one slave controller among the plurality of slave controllers is changed. According to claim 1,
The scheduling can message,
The vehicle master controller, characterized in that composed of a data frame including an identifier field into which a message ID corresponding to the scheduling can message is input and a data field into which the scheduling information is input. According to claim 2,
The data field is divided on the basis of 1 byte and includes a plurality of sub data fields,
The vehicle master controller, characterized in that the scheduling information is input to each of the plurality of sub data fields. According to claim 1,
The scheduling information,
an ECU ID indicating an ID for a slave controller to perform the task;
A TASK ID capable of identifying the task,
TASK Priority indicating the priority of the task;
TASK Start Offset Time Table Index indicating a table index value to designate an offset time for the start time of the task;
A TASK Duration Table Index indicating a table index value to set the duration of the task, and
TASK Function Table Index indicating the table index value to set the function of the task.
Vehicle master controller comprising a. Receives a scheduling can message including scheduling information from the master controller, performs a task according to the scheduling information, stores a reference table including table values referred to in the scheduling information, and prior to performing the task A slave controller for a vehicle, characterized in that it determines whether a change in the operation cycle of a task is necessary. According to claim 5,
The vehicular slave controller of claim 1 , wherein the table value includes an offset time, a function of a task, and a duration. According to claim 6,
A slave controller for a vehicle, characterized in that, when there is a request for changing the operation period of a task, the offset time and duration of the table values for the task having the request for changing the operation period are changed. a scheduling information request step of requesting scheduling information from a master controller;
a receiving step of receiving a scheduling can message including the scheduling information from the master controller; and
a task performing step of performing a task according to the scheduling information;
including,
Prior to the scheduling information request step, an operation cycle determination step of determining whether a change in the operation cycle of the task is necessary.
A method of performing a task by a slave controller for a vehicle, further comprising: delete According to claim 8,
A value change step of changing a table value of a pre-prepared reference table, if the operation cycle of the task needs to be changed
A method of performing a task by a slave controller for a vehicle, further comprising: According to claim 10,
In the value change step,
A method of performing a task of a slave controller for a vehicle, characterized in that changing an offset time and duration of the table value related to the operation period of the task.

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