KR102645069B1 - Vehicle, control method of the vehicle and network system - Google Patents

Abstract

The present invention provides a vehicle, vehicle control method, and network system that perform stable and highly reliable synchronization through software-based packet transmission between two control modules.
A vehicle according to one embodiment includes a first control module; And a second control module;
The first control module may transmit a start signal to the second control module and receive a preparation signal corresponding to the start signal transmitted by the second control module to perform synchronization with the second control module. .

Description

Vehicle, vehicle control method and network system {VEHICLE, CONTROL METHOD OF THE VEHICLE AND NETWORK SYSTEM}

The present invention relates to a vehicle, a vehicle control method, and a network system related to synchronization of a plurality of control modules included in the vehicle.

Autonomous vehicle driving technology is a technology that allows a vehicle to understand road conditions and drive automatically without the driver controlling the brakes, steering wheel, or accelerator pedal.

Autonomous driving technology is a key technology for realizing smart cars. For autonomous vehicles, it includes a highway driving assistance system (HDA, a technology that automatically maintains the distance between cars) and a rear blind spot warning system (BSD, which detects surrounding vehicles while reversing). , technology that sounds an alarm), Automatic Emergency Braking System (AEB, technology that activates the brakes when it does not recognize the vehicle in front), Lane Departure Warning System (LDWS), Lane Keeping Assist System (LKAS, technology that prevents you from leaving your lane without a turn signal) It consists of (complementary technology), Advanced Smart Cruise Control (ASCC, a technology that maintains the distance between cars at a set speed), and Congestion Zone Driving Assistance System (TJA).

When performing autonomous driving, a plurality of control modules may be used, and synchronization is essential for the plurality of control modules to perform smooth autonomous driving.

In order to implement synchronization and flow control techniques in hardware that satisfy the reliability required for autonomous vehicles, the complexity of hardware logic increases, overhead such as redesign and additional verification occurs, and portability to other systems is increased. This problem of falling occurs.

The present invention provides a vehicle, vehicle control method, and network system that perform stable and highly reliable synchronization through software-based packet transmission between two control modules.

A vehicle according to one embodiment includes a first control module; And a second control module;

The first control module may transmit a start signal to the second control module and receive a preparation signal corresponding to the start signal transmitted by the second control module to perform synchronization with the second control module. .

The first control module may transmit a control signal to the second control module when receiving a preparation signal corresponding to the start signal transmitted by the second control module.

The start signal includes information on the number of times the start signal has been transmitted, and the preparation signal includes information on the number of times the ready signal has been transmitted,

The first control module transmits the start signal if the start signal transmission number information exceeds the preparation signal transmission number information, and if the preparation signal transmission number information is greater than or equal to the start signal transmission number information, the second control module A control signal can be transmitted to the control module.

The control signal includes a check string,

The second control module may operate to correspond to the control signal when the value of the test string included in the control signal matches a predetermined reference test string.

The first control module may ignore the preparation signal if it exceeds a predetermined time point after the start signal is transmitted.

When receiving the start signal, the second control module operates in a first mode that compares the length of the start string included in the start signal with a predetermined reference string to perform synchronization with the first control module.

The second control module may operate in a second mode that ignores the start signal when the length of the start string included in the start signal matches a predetermined reference string.

When receiving the ready signal, the first control module may perform synchronization with the second control module by comparing the length of the ready string included in the ready signal with the length of a predetermined reference string.

The second control module transmits a preliminary start signal,

The first control module may transmit the start signal in response to the preliminary start signal.

In a vehicle control method according to an embodiment, a first control module transmits a start signal to a second control module, receives a preparation signal corresponding to the start signal transmitted by the second control module, and controls the second control module. Perform synchronization with .

The vehicle control method according to an embodiment may further include transmitting a control signal to the second control module when receiving a preparation signal corresponding to the start signal transmitted by the second control module.

The start signal includes information on the number of times the start signal has been transmitted,

The ready signal includes information on the number of times the ready signal has been transmitted,

Transmitting the start signal includes transmitting the start signal when the start signal transmission number information exceeds the preparation signal transmission number information,

Transmitting the control signal may include transmitting a control signal to the second control module when the preparation signal transmission number information is greater than or equal to the start signal transmission number information.

The synchronization may be performed in a first mode that compares the length of the start string included in the start signal with a predetermined reference string upon receiving the start signal, thereby performing synchronization with the first control module.

Performing the synchronization may include performing synchronization with the second control module by comparing the length of the ready string included in the ready signal with the length of a predetermined reference string upon receiving the ready signal.

The vehicle control method according to an embodiment may further include transmitting a preliminary start signal and transmitting the start signal in response to the preliminary start signal.

A network system according to one embodiment includes a first control module; and a second control module; wherein the first control module transmits a start signal to the second control module, receives a preparation signal corresponding to the start signal transmitted by the second control module, and receives the first control module. 2Perform synchronization with the control module.

The first control module may transmit a control signal to the second control module when receiving a preparation signal corresponding to the start signal transmitted by the second control module.

The vehicle, vehicle control method, and network system according to one embodiment can perform stable and highly reliable synchronization through software-based packet transmission between two control modules.

Figures 1 and 2 are control block diagrams of a network system according to one embodiment.
Figure 3 is a data structure diagram of a start signal according to one embodiment.
Figure 4 is a data structure diagram of a ready signal according to one embodiment.
Figure 5 is a data structure diagram of a control signal according to one embodiment.
Figure 6 is a flow chart according to one embodiment.
Figure 7 is a signal flow diagram according to one embodiment.

Like reference numerals refer to like elements throughout the specification. This specification does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present invention pertains is omitted. The term 'part, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'part, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Throughout the specification, when a member is said to be located “on” another member, this includes not only cases where a member is in contact with another member, but also cases where another member exists between the two members.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception. The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present invention will be described with reference to the attached drawings.

Figures 1 and 2 are control block diagrams of the network system 10 according to one embodiment.

Meanwhile, the vehicle 1 according to one embodiment may include a network system 10.

A network system according to one embodiment may include a first control module 100 and a second control module 200.

The first control module 100 may transmit a start signal (S11) to the second control module 200.

The start signal S11 may refer to a signal that starts a handshaking operation for synchronization between two control modules, as will be described later.

Additionally, the start signal S11 transmitted by the first control module 100 may include a synchronization packet, as will be described later.

In addition, after transmitting the start signal (S11), the first control module 100 receives a preparation signal (S12) corresponding to the start signal (S11) transmitted by the second control module 200 to control the second control module (200). Synchronization can be performed with .

The ready signal S12 may mean a signal including information that the second control module is ready to receive data in response to the start signal S11 transmitted to the first control module 100.

When the first control module receives the preparation signal (S12) corresponding to the start signal (S11) transmitted by the second control module 200, it can transmit a control signal (S13) to the second control module 200. there is.

The control signal S13 may include data directly related to each driving or operation of the second control module 200.

Details regarding the specific data structure for each signal will be described later.

The start signal S11 may include information on the number of transmissions of the start signal S11, and the preparation signal S12 may include information on the number of transmissions of the preparation signal S12.

That is, the start signal S11 may include information counting the number of transmissions from the first control module 100 to the second control module 200.

The preparation signal S12 may include information counting the number of transmissions from the second control module 200 to the first control module 100.

The first control module 100 may transmit the start signal S11 when the start signal S11 transmission number information exceeds the preparation signal S12 transmission number information.

For example, if the start signal (S11) transmission number information is 3 and the preparation signal (S12) transmission number information is 2, the preparation signal (S12) is considered to be a preparation signal (S12) transmitted before the start signal (S11) transmission. The first control module 100 may determine that the preparation signal S12 is an inappropriate signal and transmit the start signal S11 again.

When the preparation signal S12 transmission number information exceeds the start signal S11 transmission number information, the first control module 100 may transmit a control signal S13 to the second control module 200.

For example, if the start signal (S11) transmission number information is 2 and the preparation signal (S12) transmission number information is 3, the preparation signal (S12) is considered to be a preparation signal (S12) transmitted after the start signal (S11) is transmitted. The first control module 100 may determine that the preparation signal S12 is an appropriate signal and transmit the control signal S13.

The control signal S13 may include a test string.

The check string may include a string for a cyclical redundancy check (CRC).

Cyclic redundancy check is one of the methods for detecting data errors in a general communication system that transmits and receives data. It has the characteristic of mathematically detecting data errors, and may include an operation to check for errors using a check value when checking for errors.

The second control module 200 may operate in response to the control signal S13 when the value of the test string included in the control signal S13 matches a predetermined reference test string.

The first control module 100 may ignore the preparation signal if it exceeds a predetermined time point after transmitting the start signal S11.

The first control module 100 may perform synchronization by receiving a preparation signal (S12) received within a predetermined time after the start signal (S11).

When receiving the start signal (S11), the second control module operates in the first mode to compare the start string included in the start signal (S11) with a predetermined reference string to perform synchronization with the first control module (100). can do.

The first mode of the second control module 200 may refer to a mode in which an operation is performed to compare the start string of the received start signal S11 and the reference string.

The start string may mean length information of the start signal (S11) included in the header of the start signal (S11), and the pre-stored second control module 200 compares the predetermined reference string to determine whether they match. can be judged.

The second control module 200 may operate in a second mode that ignores the start signal S11 when the length of the start string included in the start signal S11 matches the length of the predetermined reference string.

The second mode may mean a mode in which the driver settings are changed and does not receive another start signal (S11).

When the first control module receives the preparation signal (S12), it can perform synchronization with the second control module 200 by comparing the length of the preparation string included in the preparation signal (S12) with the length of the predetermined reference string. .

Meanwhile, as shown in Figure 2, the second control module 200 may transmit a preliminary start signal (S10), and the first control module 100 may transmit the start signal (S11) in response to the preliminary start signal (S10). can be transmitted.

Meanwhile, the first control module 100 and the second control module 200 described in FIGS. 1 and 2 may be provided with an MCU (Micro controller unit) and an AP (Application processor), respectively. The MCU is a module that follows the AUTOSAR standard. AP can be prepared as a Unix or Linux-based module that follows the POSIX standard.

The control module includes a memory (not shown) that stores data for an algorithm for controlling the operation of the network system and components within the vehicle or a program that reproduces the algorithm, and a processor that performs the above operations using the data stored in the memory. It can be implemented as (not shown). At this time, the memory and processor may each be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip.

Additionally, each control module may include a communication unit that includes one or more components that enable communication with external devices.

Additionally, the control module may include at least one of a short-range communication module, a wired communication module, and a wireless communication module.

Figure 3 is a data structure diagram of a start signal according to one embodiment.

Referring to FIG. 3, the start signal may include a header (S31), a protocol (S32), and a tail (S32).

The header (S31) of the start signal may include a start string (start byte, S311) and a predetermined reference string (S312). Meanwhile, the second control module may compare the start string included in the header with a predetermined reference string.

If the start string (S311) included in the header (S31) and the predetermined reference string (S312) match the second control module, a ready signal can be transmitted to the first control module.

Meanwhile, the protocol (S32) included in the start signal may be padded with a value of 0. On the other hand, if the control signals (signals such as CAN, CANFD, ethernet, etc.) contain a special string, the first control module may malfunction in synchronizing with the special string of the protocol, so the signal to be transmitted Padding is required to the size of .

The tail (tail S33) included in the start signal may include data for synchronization (synch byte, S331) and start signal transmission count information (frame counter, S332).

When a start signal is previously received, the second control module searches for a start string (start byte), and if the number of bytes of the received start string matches a predetermined reference string (N), it may be determined that it has been received normally. The operation may be performed in the first mode of the second control module.

In this case, the second control module can transmit a preparation signal to the first control module and operate in the second mode with another start signal.

Figure 4 is a data structure diagram of a ready signal according to one embodiment.

Referring to Figure 4, the ready signal may include a header (S41), a protocol (S42), and a tail (S43).

The header of the preparation signal may include a preparation string (start byte, S411) and a predetermined reference string (S412). Meanwhile, the first control module may compare the prepared string included in the header with a predetermined reference string.

If the prepared string included in the header matches the predetermined reference string, the first control module can transmit a control signal to the second control module.

Meanwhile, the protocol (S42) included in the ready signal may be padded with a value of 0. On the other hand, if the control signals (signals such as CAN, CANFD, ethernet, etc.) contain a special string, the second control module may malfunction in synchronizing with the special string of the protocol, so the signal to be transmitted You can pad with 0 as much as the size of .

The tail (S43) included in the preparation signal may include data for synchronization (synch byte) and information on the number of preparation signal transmissions (frame counter).

When a ready signal is previously received, the first control module searches for a ready string (start byte), and if the number of bytes of the received ready string matches a predetermined reference string (N), it may be determined that it has been received normally.

In this case, the first control module may transmit a control signal to the second control module.

Meanwhile, the first control module may transmit a control signal to the second control module if the predetermined time does not exceed a predetermined time period after transmitting the start signal before receiving the preparation signal. On the other hand, if the predetermined time is exceeded, a start signal can be transmitted again to the second control module. The second control module may operate in the first mode described above to receive the start string in the start signal whenever the start signal is received.

Figure 5 is a data structure diagram of a control signal according to one embodiment.

Figure 5 shows a control signal transmitted from the first control module to the second control module when the first control module is determined to be synchronized based on the above-described operation, start signal, and preparation signal.

The control signal transmitted by the first control module may include a header (S51), a protocol (S52), and a tail (S53).

In particular, the protocol S52 included in the control signal may include the protocol of the network synchronized after synchronization. According to one embodiment, information corresponding to protocols such as CAN (Controller Area Network) and FlexRay may be stored in the control signal protocol.

Additionally, the tail of the control signal (S53) may include the above-described check string.

If the value of the test string included in the control signal matches a predetermined reference test string, the second control module may operate to correspond to the control signal.

Meanwhile, determining that the test string matches the reference test string can be performed using a cyclical redundancy check (CRC).

Cyclic redundancy check, also called cyclic redundancy check, is one of the methods for detecting data errors in a general communication system that transmits and receives data. It has the characteristic of mathematically detecting data errors, and when checking for errors, check values can be used to check for errors.

The check value must be agreed upon in advance before the two modules being transmitted and received begin communication. Afterwards, the first control module divides the data to be sent using a pre-arranged check value as a divisor, and attaches the resulting remainder to the end of the data to transmit it. In the second control module, you can compare the remainder derived by dividing the received data by the check value, or check whether the remainder derived by dividing the entire transmitted data by adding the remainder is 0, and then check for errors in the data. Meanwhile, according to one embodiment, the reference test string may be determined by a predetermined divisor.

If the value of the test string included in the control signal matches a predetermined reference test string, the second control module may operate to correspond to the control signal.

If the value of the test string included in the control signal is different from the predetermined reference test string, the second control module may transmit a preparation signal back to the first control module or receive a start signal transmitted by the first control module. It can be switched to a standby state.

Meanwhile, if the second control module determines that an error has occurred because the test string and the standard test string do not match, it can receive correct data by continuously sending a retransmission request signal (NAK).

Meanwhile, the data structure and corresponding operations described in FIGS. 3 to 5 are only an example for explaining the operation of the present invention. If the operation is to perform synchronization based on the length of the string included in the signal, the operation and data There are no restrictions on structure.

Figure 6 is a flow chart according to one embodiment.

Referring to Figure 6, the first control module may transmit a start signal (1001). Meanwhile, the second control module that has received the start signal can determine whether the length of the start string included in the start signal matches a predetermined reference string (1002).

The second control module may transmit a ready signal when the length of the starting string matches the predetermined reference string (1004).

If the length of the start string does not match the predetermined reference string, the second control module may perform an operation of waiting to receive a start signal (1003).

Meanwhile, when the ready signal received by the first control module is received less than a predetermined time (1005), the first control module may transmit a control signal to the second control module (1006).

Meanwhile, if the preparation signal received by the first control module is received less than a predetermined time (1005), the first control module may ignore the preparation signal, and the second control module may perform an operation of waiting to receive the start signal. can be performed (1003).

Additionally, if the test string in the control signal received by the second control module matches the reference test string (1007), the second control module may perform an operation corresponding to the control signal (1008). Meanwhile, if the test string in the control signal received by the second control module does not match the reference test string, the second control module may perform an operation of waiting to receive the start signal (1003). Meanwhile, in this case, the second control module may perform an operation of transmitting a preparation signal.

Figure 7 is a signal flow diagram according to one embodiment. Referring to Figure 7, the second control module may operate in the first mode to receive a start signal from the first control module (1011).

The first control module may transmit a start signal (1012).

Meanwhile, the second control module that has received the start signal may ignore the start signal transmitted later and operate in the second mode for transmitting a preparation signal (1013).

Meanwhile, the second control module that receives the start signal as described above can determine whether the length of the start string included in the start signal matches a predetermined reference string.

The second control module may transmit a ready signal when the length of the starting string matches the predetermined reference string (1014).

The first control module may determine whether the ready signal has been received less than a predetermined time (1015).

In addition, as described above, the first control module compares the number information included in the start signal and the preparation signal, and if the preparation signal transmission number information is greater than or equal to the start signal transmission number information, it may be determined that synchronization is highly reliable (1016) ).

The first control module may transmit a control signal to the second control module (1017).

Additionally, if the test string in the control signal received by the second control module matches the reference test string (1018), the second control module may perform an operation corresponding to the control signal (1019).

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which the present invention pertains will understand that the present invention can be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

1: vehicle
10: Network system
100: first control module
200: second control module

Claims (17)

first control module; and
Includes a second control module;
The first control module is,
Sending a start signal to the second control module,
Perform synchronization with the second control module by receiving a preparation signal corresponding to the start signal transmitted by the second control module,
The first control module is,
Upon receiving a preparation signal corresponding to the start signal transmitted by the second control module, transmitting a control signal to the second control module,
The start signal includes information on the number of start signal transmissions,
The ready signal includes information on the number of ready signal transmissions,
The first control module is,
If the start signal transmission number information exceeds the preparation signal transmission number information, transmitting the start signal,
A vehicle that transmits the control signal to the second control module when the preparation signal transmission number information is greater than or equal to the start signal transmission number information.
delete delete According to paragraph 1,
The control signal is,
Contains a check string,
The second control module is,
A vehicle that operates in response to the control signal when the value of the test string included in the control signal matches a predetermined reference test string.
According to paragraph 1,
The first control module is,
After the start signal is transmitted, if a predetermined time point is exceeded,
A vehicle that ignores the ready signal.
According to paragraph 1,
The second control module is,
Upon receiving the start signal
A vehicle that performs synchronization with the first control module by operating in a first mode that compares the length of the start string included in the start signal with a predetermined reference string.
According to clause 6,
The second control module is,
If the length of the start string included in the start signal matches the predetermined reference string,
A vehicle operating in a second mode that ignores the start signal.
According to paragraph 1,
The first control module is,
Upon receiving the ready signal
A vehicle that performs synchronization with the second control module by comparing the length of the ready string included in the ready signal with the length of a predetermined reference string.


According to paragraph 1,
The second control module is,
transmit a preliminary start signal;
The first control module is,
A vehicle that transmits the start signal in response to the preliminary start signal.
The first control module transmits a start signal to the second control module,
Perform synchronization with the second control module by receiving a preparation signal corresponding to the start signal transmitted by the second control module,
Upon receiving a preparation signal corresponding to the start signal transmitted by the second control module, transmitting a control signal to the second control module,
The start signal includes information on the number of start signal transmissions,
The ready signal includes information on the number of ready signal transmissions,
Transmitting the start signal is:
When the start signal transmission number information exceeds the preparation signal transmission number information, transmitting the start signal,
Transmitting the control signal is:
If the preparation signal transmission number information is greater than or equal to the start signal transmission number information, transmitting the control signal to the second control module.
delete delete According to clause 10,
Performing the synchronization is:
Upon receiving the start signal
A vehicle control method that performs synchronization with the first control module by operating in a first mode that compares the length of the start string included in the start signal with a predetermined reference string.
According to clause 10,
Performing the synchronization upon receiving the ready signal
A vehicle control method comprising performing synchronization with the second control module by comparing the length of the ready string included in the ready signal with the length of a predetermined reference string.
According to clause 10,
transmit a preliminary start signal;
A vehicle control method further comprising transmitting the start signal in response to the preliminary start signal.

first control module; and
Includes a second control module;
The first control module is,
Sending a start signal to the second control module,
Perform synchronization with the second control module by receiving a preparation signal corresponding to the start signal transmitted by the second control module,
The first control module is,
Upon receiving a preparation signal corresponding to the start signal transmitted by the second control module, transmitting a control signal to the second control module,
The start signal includes information on the number of start signal transmissions,
The ready signal includes information on the number of ready signal transmissions,
The first control module is,
If the start signal transmission number information exceeds the preparation signal transmission number information, transmitting the start signal,
A network system that transmits the control signal to the second control module when the preparation signal transmission number information is greater than or equal to the start signal transmission number information.


delete

Images