KR20170142869A - Operation method of communication node for detecting fail in network - Google Patents

Abstract

Disclosed is an operation method of a communications node in a network. The operation method of a communications node, which is an operation method of a first communications node in an Ethernet-based vehicle network, comprises the following steps of: identifying a link status between the first communications node and each of a plurality of communications nodes included in the vehicle network; receiving a first frame from a second communications node whose link status is normal among the communications nodes; identifying a first time difference between a local time of the first communications node and a time stamp of the first frame; and determining a synchronization error between the first communications node and the second communications node based on the first time difference.

Description

[0001] OPERATION METHOD OF COMMUNICATION NODE FOR DETECTION FAIL IN NETWORK [0002]

The present invention relates to a method of operating a communication node for error detection in a network, and more particularly, to a method of operating a communication node for detecting an error in a system using an Ethernet switch in an Ethernet-based vehicle network.

BACKGROUND ART [0002] With the rapid progress of electronicization of vehicle parts, the types and number of electronic devices mounted on vehicles have been greatly increased. Electronic devices can be largely used in a power train control system, a body control system, a chassis control system, a vehicle network, a multimedia system, and the like. The powertrain control system may mean an engine control system, an automatic shift control system, and the like. The body control system may refer to a body electrical equipment control system, a convenience device control system, a lamp control system, and the like. The chassis control system may refer to a steering control system, a brake control system, a suspension control system, and the like. The vehicle network may refer to a controller area network (CAN), a FlexRay-based network, or a MOST (media oriented system transport) based network. The multimedia system may refer to a navigation system, a telematics system, an infotainment system, or the like.

The electronic devices constituting each of these systems and systems are connected through a vehicle network, and a vehicle network is required to support the functions of each of the electronic devices. CAN can support transmission rates of up to 1Mbps, support automatic retransmission of collided frames, and support CRC (cyclic redundancy check) based error detection. FlexRay-based networks can support transmission speeds of up to 10 Mbps, support simultaneous transmission of data over two channels, and synchronous data transmission. The MOST-based network is a communication network for high-quality multimedia and can support transmission rates of up to 150Mbps.

On the other hand, vehicle telematics systems, infotainment systems, and enhanced safety systems require high transmission speeds and system scalability, and CAN and FlexRay-based networks do not fully support them. MOST-based networks can support higher transmission speeds than CAN- and FlexRay-based networks, but MOST-based networks are costly for all vehicle networks. Due to these problems, an ethernet-based network can be considered as a vehicle network. An Ethernet-based network can support bidirectional communication through a pair of windings and can support transmission rates up to 10 Gbps.

Specifically, the vehicle network may include a plurality of electronic devices, a plurality of electronic control units (ECUs) for controlling the plurality of electronic devices, and a switch for controlling communication between the electronic device and the ECU. In this way, the first ECU connected to the switch among the plurality of ECUs in the vehicle network can detect a failure for the link in the vehicle network by determining the connection state between the plurality of ECUs. Further, the first ECU connected to the switch among the plurality of ECUs in the vehicle network can detect an error through a separate algorithm for detecting synchronization errors between the plurality of ECUs and the plurality of electronic devices. In addition, in the vehicle network, the first ECU can detect an error through a separate algorithm for detecting frame reception errors between the plurality of ECUs and the plurality of electronic devices.

That is, the first ECU that detects an error in the vehicle network has a problem that different algorithms that are different from each other must be provided in advance according to the purpose of detecting the error. Accordingly, a plurality of algorithms for detecting an error in the vehicle network are required, so that a load is generated in the operation of the first ECU that detects an error.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method of operating a communication node for simultaneously detecting an error in a link, a synchronization error, and an error in receiving a frame in an Ethernet-based vehicle network.

In accordance with another aspect of the present invention, there is provided a method of operating a communication node for detecting an error in a network, the method comprising: Receiving a first frame from a second communication node whose link status is normal among the plurality of communication nodes, determining a link status between each of the plurality of communication nodes and the first communication node, Determining a first time difference between a local time of the first communication node and a time stamp of the first frame based on the first time difference, .

Here, the operation method of the first communication node includes the steps of generating a frame including an indicator indicating a synchronization error when the synchronization determined based on the first time difference is not normal, And transmitting the frame including the first frame to the second communication node.

Here, if the synchronization determined based on the first difference is normal, the method of operating the first communication node may further include: comparing a time stamp of a second frame received from a third communication node whose link status is normal among the plurality of communication nodes, Determining a second time difference between time stamps of the first frame and determining a synchronization error between the first communication node and the second communication node based on the second time difference.

Here, the operation method of the first communication node may include a step of generating a frame including an indicator indicating a synchronization error when the synchronization determined based on the second time difference is not normal, To the second communication node and the third communication node.

Wherein the method of operating the first communication node includes receiving a plurality of frames from each of the second communication node and the third communication node when the determined synchronization based on the second time difference is normal, And confirming the frame error based on the continuity of the sequence number of each of the frames.

Here, the method of operating the first communication node may include transmitting a plurality of non-normal frames based on the continuity among the second communication node and the third communication node when the frame confirmed based on the continuity is not normal The method comprising the steps of: identifying at least one communication node to which a frame is lost; generating a frame including an indication indicating loss of the frame; and transmitting a frame including an indicator indicating loss of the frame to the at least one communication node Step < / RTI >

Here, the method of operating the first communication node may include: outputting information included in a plurality of frames received from the second communication node and the third communication node, when the frame confirmed based on the continuity is normal; As shown in FIG.

Here, the first communication node may be a communication node capable of removing the plurality of communication nodes by performing a function of a switch in the vehicle network.

According to another aspect of the present invention, there is provided a first communication node for performing a method of operating a communication node for error detection in a network, the first communication node being a first communication node of an ethernet- and a memory in which at least one instruction executed through the processor is stored, wherein the at least one instruction is a link state between each of a plurality of communication nodes included in the vehicle network and the first communication node And receiving a first frame from a second communication node whose link state is normal among the plurality of communication nodes and transmitting a local time of the first communication node and a time stamp of the first frame, And determining a first time difference between the first communication node and the second communication node based on the first time difference, A is performed so as to judge.

The at least one command generates a frame including an indicator indicating a synchronization error when the synchronization determined based on the first time difference is not normal, and generates a frame including an indicator indicating the synchronization error, To the second communication node.

Here, the at least one command may include a time stamp of a second frame received from a third communication node whose link state is normal among the plurality of communication nodes, To determine a second time difference between the time stamps of the frame and to determine a synchronization error between the first communication node and the second communication node based on the second time difference.

The at least one command generates a frame including an indicator for indicating a synchronization error when the synchronization determined based on the second time difference is not normal and includes an indicator for indicating the synchronization error Frame to the two communication nodes and the third communication node.

Wherein the at least one command is to receive a plurality of frames from each of the second communication node and the third communication node when the determined synchronization based on the second time difference is normal, Lt; / RTI > may be further performed to identify a frame error based on the continuity of the sequence number of the frame.

Wherein the at least one command is based on the continuity of at least one of the second communication node and the third communication node to transmit a plurality of non-normal frames based on the continuity, To generate a frame containing an indicator indicating the loss of the frame, and to transmit a frame containing an indicator indicating the loss of the frame to the at least one communication node .

Here, the at least one command may be executed to output information contained in a plurality of frames received from each of the second communication node and the third communication node, when the confirmed frame is normal based on the continuity.

Here, the first communication node may be a communication node capable of removing the plurality of communication nodes by performing a function of a switch in the vehicle network.

According to the present invention, errors in a link, an error in synchronization, and an error in frame reception can be simultaneously detected in a process of determining a link state in an ethernet-based vehicle network.

Accordingly, since the method of operating the communication node according to the present invention does not need to include a plurality of algorithms, it is possible to reduce the load of the communication node that detects an error in the vehicle network.

1 is a block diagram illustrating an embodiment of a topology of a vehicle network.
2 is a block diagram showing an embodiment of a structure of a communication node constituting a vehicle network.
3 is a conceptual diagram illustrating a vehicle network according to an embodiment of the present invention.
4 is a conceptual diagram illustrating a first communication node performing a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.
5 is a flowchart illustrating a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.
6 is a conceptual diagram illustrating a frame transmitted in a vehicle network according to an embodiment of the present invention.
7 is a flowchart illustrating a first embodiment of a method for determining a synchronization error in a vehicle network according to an embodiment of the present invention.
8 is a flowchart illustrating a second embodiment of a method for determining a synchronization error in a vehicle network according to an embodiment of the present invention.
9 is a flowchart illustrating a method of determining a frame error in a vehicle network according to an exemplary embodiment of the present invention.
10 is a conceptual diagram showing a first embodiment of a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.
11 is a conceptual diagram showing a second embodiment of a method of operating a communication node for error detection in a vehicle network according to an 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.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the understanding of the present invention, the same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

1 is a block diagram illustrating one embodiment of a network topology of a vehicle network.

1, a communication node constituting a vehicle network may refer to a gateway, a switch (or a bridge), an end node, or the like. The gateway 100 may be connected to at least one switch 110, 110-1, 110-2, 120, or 130, and may connect different networks. For example, the gateway 100 may include a switch that supports a controller area network (CAN) (or FlexRay, media oriented system transport (MOST), local interconnect network (LIN) (ethernet) protocol can be connected between switches. Each of the switches 110, 110-1, 110-2, 120 and 130 may be connected to at least one end node 111, 112, 113, 121, 122, 123, 131, 132, Each of the switches 110, 110-1, 110-2, 120 and 130 may interconnect the end nodes 111, 112, 113, 121, 122, 123, 131, 132 and 133, It is possible to control the nodes 111, 112, 113, 121, 122, 123, 131, 132,

The end nodes 111, 112, 113, 121, 122, 123, 131, 132 and 133 may mean an electronic control unit (ECU) for controlling various devices included in the vehicle. For example, the end nodes 111, 112, 113, 121, 122, 123, 131, 132, 133 may be infotainment devices (e.g., a display device, a navigation device, (An around view monitoring device), and the like.

The communication nodes (i.e., gateways, switches, end nodes, etc.) that constitute the vehicle network may be a star topology, a bus topology, a ring topology, a tree topology, Topology, and so on. Further, each of the communication nodes constituting the vehicle network may support the CAN protocol, the FlexRay protocol, the MOST protocol, the LIN protocol, the Ethernet protocol, and the like. Embodiments according to the present invention can be applied to the network topology described above, and the network topology to which the embodiments according to the present invention are applied is not limited to this, and can be variously configured.

2 is a block diagram showing an embodiment of a structure of a communication node constituting a vehicle network.

Referring to FIG. 2, a communication node 200 constituting a vehicle network may include a PHY layer unit 210 and a controller unit 220. In addition, the communication node 200 may further include a regulator (not shown) for supplying power. At this time, the controller unit 220 may be implemented including a medium access control (MAC) layer. PHY layer unit 210 may receive signals from other communication nodes or may transmit signals to other communication nodes. The controller unit 220 may control the PHY layer unit 210 and may perform various functions (e.g., infotainment function, etc.). The PHY layer unit 210 and the controller unit 220 may be implemented as one SoC (System on Chip) or a separate chip.

The PHY layer unit 210 and the controller unit 220 may be connected through a media independent interface (MII) 230. The MII 230 may refer to an interface defined in IEEE 802.3, and may be configured as a data interface and a management interface between the PHY layer unit 210 and the controller unit 220. One of the interfaces of RMII (reduced MII), GMII (gigabit MII), RGMII (reduced GMII), SGMII (serial GMII) and XGMII (10 GMII) may be used instead of MII 230. The data interface may include a transmission channel and a reception channel, and each of the channels may have independent clock, data, and control signals. The management interface may be configured as a two-signal interface, one for the clock and the other for the data.

The PHY layer unit 210 may include a PHY layer interface unit 211, a PHY layer processor 212 and a PHY layer memory 213 and the like. The configuration of the PHY layer unit 210 is not limited thereto, and the PHY layer unit 210 may be configured in various ways. The PHY layer interface unit 211 may transmit signals received from the controller unit 220 to the PHY layer processor 212 and may transmit signals received from the PHY layer processor 212 to the controller unit 220. [ PHY layer processor 212 may control the operation of PHY layer interface unit 211 and PHY layer memory 213, respectively. The PHY layer processor 212 may perform modulation of the signal to be transmitted or demodulation of the received signal. The PHY layer processor 212 may control the PHY layer memory 213 to input or output a signal. The PHY layer memory 213 can store the received signal and output the stored signal upon request of the PHY layer processor 212. [

The controller unit 220 may perform monitoring and control for the PHY layer unit 210 via the MII 230. The controller unit 220 may include a controller interface unit 221, a controller processor 222, a main memory 223, an auxiliary memory 224, and the like. The configuration of the controller unit 220 is not limited thereto, and the controller unit 220 can be configured in various ways. The controller interface unit 221 can receive signals from the PHY layer unit 210 (i.e., the PHY layer interface unit 211) or an upper layer (not shown) and send the received signals to the controller processor 222 And may transmit signals received from the controller processor 222 to the PHY layer unit 210 or higher layer. The controller processor 222 may further include independent memory control logic or integrated memory control logic for controlling the controller interface unit 221, the main memory 223 and the auxiliary memory 224. The memory control logic may be included in the main memory 223 and the auxiliary memory 224, or may be included in the controller processor 222 and implemented.

Each of the main memory 223 and the auxiliary memory 224 may store the signal processed by the controller processor 222 and output the stored signal at the request of the controller processor 222. [ The main memory 223 may mean a volatile memory (e.g., random access memory (RAM), etc.) that temporarily stores data necessary for the operation of the controller processor 222. [ The auxiliary memory 224 includes an operating system code (e.g., a kernel and a device driver) and an application program code for performing functions of the controller processor 220 May be stored in the nonvolatile memory. A flash memory having a high processing speed can be used as a nonvolatile memory or a hard disk drive (HDD), a compact disc-read only memory (CD-ROM), etc. for storing a large amount of data Can be used. Controller processor 222 may typically be comprised of logic circuitry including at least one processing core. As the controller processor 222, an ARM (Advanced RISC Machines Ltd.) series core, an atom series core, or the like may be used.

Hereinafter, a method performed in a communication node belonging to a vehicle network and a corresponding counterpart communication node will be described. Hereinafter, even when a method (e.g., transmission or reception of a signal) to be performed at the first communication node is described, the corresponding second communication node can perform a method corresponding to the method performed at the first communication node For example, receiving or transmitting a signal). That is, when the operation of the first communication node is described, the corresponding second communication node can perform an operation corresponding to the operation of the first communication node. Conversely, when the operation of the second communication node is described, the corresponding first communication node can perform the operation corresponding to the operation of the switch.

3 is a conceptual diagram illustrating a vehicle network according to an embodiment of the present invention.

The switch 310, the end node 1 321, the end node 2 322, the end node 3 323 and the end node 324 shown in FIG. 3 are connected to the Ethernet-based vehicle network described with reference to FIG. Can be configured. Here, the switch 310 may mean an ECU that performs a function of a switch. Each of the switches 310, the end node 1 321, the end node 2 322, the end node 3 323 and the end node 4 324 are connected to the communication node 200 Lt; / RTI >

In the vehicle network, the switch 310 may be connected to end node 1 321, end node 2 322, end node 3 323 and end node 4 324. For example, in a vehicle network, switch 310, end node 1 321, end node 2 322, end node 3 323, and end node 4 324 may communicate with each other as defined in the IEEE 802.1AS (gPTP) A time synchronization protocol for Ethernet and a protocol defined in the IEEE 1722 standard.

4 is a conceptual diagram illustrating a first communication node performing a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 4, a method of operating a communication node for error detection in a vehicle network according to an exemplary embodiment of the present invention may be performed in a first communication node. Here, the first communication node may mean the switch 310 described with reference to FIG. The switch 310 may include a control module 311 and a switching module 312 to perform a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.

First, the control module 311 may perform a function for detecting an error with respect to a plurality of end nodes (for example, a plurality of ECUs) connected to the switch 310 at the switch 310. To this end, the control module 311 may include an error detection module 311-1, an audio video transport protocol (AVTP) module 311-2, and a time synchronization confirmation module 311-3.

Specifically, the error detection module 311-1 can perform a function of detecting an error between a plurality of end nodes connected to the switch 310 and the switch 310. [ Also, the AVTP module 311-2 can perform a function of supporting communication according to the AVTP protocol. For example, the AVTP module may support communication according to the IEEE 1722 protocol, and may perform a function of detecting an error with respect to a sequence number of a frame transmitted between the switch 310 and a plurality of end nodes have. In addition, the time synchronization confirmation module 311-3 may perform a function of calculating a difference between time stamps of frames received from a plurality of end nodes connected to the switch 310. [

Meanwhile, the switching module 312 may include a time synchronization module 312-1 and a link monitoring module 312-2 to perform the function of the switch in the vehicle network. The switching module 312 also includes PHY 1 312-3, PHY 2 312-4, PHY 3 312-5, and PHY 4 312 312, which means the PHY layer interface unit described with reference to FIG. -6). ≪ / RTI > Here, the switching module 312 has been described as including four PHYs, but is not limited thereto.

In particular, the time synchronization module 312-1 may perform a function for time synchronization between a plurality of end nodes connected to the switch 310 and the switch 310. [ For example, the time synchronization module 312-1 may include information (e.g., time values for time synchronization and time synchronization) for time synchronization between a plurality of end nodes connected to the switch 310 and the switch 310 And a value required for correction for the image data). The link monitoring module 312-2 also includes a plurality of PHYs (e.g., PHY 1 312-3, PHY 2 312-4, PHY 3 312-5, and PHY 4 312-6 ) Of the link (link).

The plurality of configurations included in the switch 310 are not physically configured but perform a method of operating the communication node for error detection in the vehicle network according to an embodiment of the present invention performed by the switch 310 It can mean a logical configuration that is distinguished for. In addition, the functions performed by the plurality of configurations described above may be representative functions performed in each of the configurations. In addition to the functions described, in addition to the functions described above, a communication for error detection in a vehicle network And may perform a function for performing an operation method of a node.

Hereinafter, an operation method of a communication node for error detection in a vehicle network according to an embodiment of the present invention, which is performed in a first communication node, which means the switch 310 described with reference to Figs. 3 to 4, Lt; / RTI >

5 is a flowchart illustrating a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 5, a method of operating a communication node for error detection in a vehicle network according to an exemplary embodiment of the present invention may be performed in a first communication node. Here, the first communication node may mean the switch 310 described with reference to Figs. That is, the first communication node may mean a communication node that can control a plurality of communication nodes connected to the first communication node by performing a function of a switch. Also, a plurality of communication nodes coupled to the first communication node may refer to end node 1 311 through end node 4 314 if the first communication node is switch 310 described with reference to FIG. 3 .

First, in the vehicle network, the first communication node can check the link state between each of the plurality of communication nodes included in the vehicle network and the first communication node (S501). Specifically, the first communication node can check the link status between each of the plurality of communication nodes and the first communication node by checking a register value capable of checking the link status. For example, the first communication node can determine based on whether or not a network message (NM, network message) can be received from a plurality of communication nodes through Ethernet-based communication.

Thereafter, when there is at least one communication node among the plurality of communication nodes whose link status is not normal, the first communication node may generate a frame including an indicator for indicating a link error. Thereafter, the first communication node may transmit a frame including an indicator indicating a link error to the communication node controlling the first communication node. Here, the communication node controlling the first communication node may be a communication node performing a function of a switch or a communication node performing a function of a gateway. Also, the first communication node may transmit a frame including an indicator indicating a link error to a plurality of communication nodes.

Meanwhile, the first communication node can receive the first frame from the second communication node whose link state is normal among the plurality of communication nodes (S502). Here, the first frame may have a structure for Ethernet-based communication. The structure of the first frame can be specifically described below with reference to Fig.

6 is a conceptual diagram illustrating a frame transmitted in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 6, a frame transmitted in a vehicle network according to an exemplary embodiment of the present invention may include a plurality of fields. Specifically, the frame includes a subtype data field, a stream ID field, an AVTP time field, a format field, a packet information field, and an AVTP payload field . ≪ / RTI >

First, the subtype data field may have a size of one octet and may include a subtype field, an sv field, a version field, an mr field, an f_s_d field, a tv field, a sequence number field, and a format A format specific data 1 field, and a tu field. Here, the subtype field included in the subtype data field may have a size of 7 bits and may be used to identify a protocol to be followed by AVTP.

In addition, the sv field included in the subtype data field may have a size of 1 bit and indicate whether a valid stream ID exists in the stream ID field. For example, the sv field may set the bit value to 1 if there is a valid stream ID in the stream ID field. Also, the sv field can set the bit value to 0 if there is no valid stream ID in the stream ID field.

In addition, the version field included in the subtype data field may have a size of 3 bits and may indicate a version of the AVTP data unit (AVTPDU). Also, the mr field included in the subtype data field may have a size of 1 bit, and may indicate whether or not the media clock of the source is changed. In addition, the f_s_d field included in the subtype data field may have a size of 2 bits.

In addition, the tv field included in the subtype data field may have a size of 1 bit, and may indicate the validity of the time value of the AVTP timestamp field. For example, the tv field may set the bit value to 1 if there is valid data in the AVTP timestamp field. Also, the tv field may be set to a bit value of 0 if there is no valid data in the AVTP timestamp field.

In addition, the sequence number field included in the sub data field may have a size of 8 bits and may indicate a stream sequence of AVTP data units. In addition, the format specific data 1 field included in the sub data field may have a size of 7 bits. Also, the tu field included in the sub data field may have a size of 1 bit, and may indicate an error in the AVTP timestamp field.

On the other hand, the stream ID field may have a size of 4 octets, and when the bit value of the sv field is set to 1, it may include a stream ID field having a size of 64 bits related to the AVTP data unit. That is, a stream ID field having a size of 64 bits included in a stream ID field having a size of 4 octets may mean a sub-field. In addition, the AVTP time field may have a size of 4 octets and may include an AVTP timestamp field having a size of 32 bits. That is, when the bit value of the tv field is set to 1, the AVTP time field can indicate the AVTP time through the 32-bit AVTP timestamp field.

In addition, the format field may have a size of 4 octets and may include a format specific data 2 field having a size of 32 bits. In addition, the packet information field may have a size of 4 octets, and may include a stream data length field having a size of 16 bits and a format specific data 3 field having a size of 16 bits. In addition, the AVTP payload field may have a size of 0 to N octets and may indicate data for an added protocol. The size of the AVTP payload field can be determined within a range that does not exceed the size of the maximum transmission unit (MTU).

Referring again to FIG. 5, the first communication node can confirm the first time difference between the local time of the first communication node and the time stamp of the first frame (S503). Here, the time stamp of the first frame may refer to the time stamp field described with reference to FIG. That is, the first communication node can confirm the first time difference, which is the difference between the local time of the first communication node and the time indicated by the time stamp of the first frame. Specifically, the first time difference between the local time of the first communication node and the time indicated by the time stamp of the first frame can be expressed by the following equation (1).

In Equation (1), avtp_timestamp may denote a time indicated by the time stamp of the first frame, and Local Time _ns may denote the local time of the first communication node. Accordingly, in Equation (1), time_difference may mean a first time difference. Here, the local time of the first communication node, the time indicated by the time stamp of the first frame, and the unit of the first time difference may be nanoseconds (ns, nanosecond).

Thereafter, the first communication node may determine a synchronization error between the first communication node and the second communication node based on the first time difference (S504). Specifically, the first communication node may determine that the synchronization is not normal if the first time difference is less than 0 or is equal to or greater than a preset first threshold value for determining a synchronization error. In addition, the first communication node can determine that the synchronization is normal when the first time difference is equal to or larger than 0 and less than the predetermined first threshold value.

Here, the first threshold value can be variably determined based on the specification of the electronic device including the first communication node within 1 to 2 ²³ -1. For example, it can be assumed that the first communication node is included in a surround view monitor (SVM) system, and the allowed error for the reception time of the frame in the SVM system is at most one second. In such a case, the first threshold may be 1,000,000,000 ns.

Hereinafter, the synchronization error between the first communication node and the second communication node on the basis of the first time difference at the first communication node, and the operation performed based on the determination result, can be described with reference to FIG.

7 is a flowchart illustrating a first embodiment of a method for determining a synchronization error in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 7, the first communication node can determine whether synchronization between the first communication node and the second communication node is normal based on the method described in step S504 (S505). Thereafter, if the determined synchronization based on the first time difference is not normal, the first communication node can generate a frame including an indicator for indicating a synchronization error (S506).

Thereafter, the first communication node may transmit a frame including an indicator indicating a synchronization error to the second communication node (S507). Here, the first communication node may transmit a frame including an indicator for indicating a synchronization error to the second communication node, as well as the communication node controlling the first communication node. Here, the communication node controlling the first communication node may be a communication node performing a function of a switch or a communication node performing a function of a gateway. Also, the first communication node may transmit a frame including an indicator indicating a synchronization error to a plurality of communication nodes.

On the other hand, when the synchronization determined based on the first time difference is normal, the first communication node transmits the time stamp of the second frame received from the third communication node whose link status is normal among the plurality of communication nodes, The second time difference between the stamps can be confirmed (S508). Here, the time stamp of the second frame may refer to the time stamp field described with reference to FIG. That is, the first communication node can confirm the second time difference, which indicates the difference between the time indicated by the time stamp of the first frame and the time indicated by the time stamp of the second frame.

Thereafter, the first communication node may determine a synchronization error between the first communication node and the second communication node based on the second time difference (S509). Specifically, the first communication node may compare the second time difference with a range according to a preset second threshold value to determine a synchronization error. Here, it is described that the first communication node determines the synchronization error based on the second time difference between the time stamp of the second frame received from the third communication node and the time stamp of the first frame, but the present invention is not limited thereto.

For example, when the first communication node receives a plurality of frames from the second communication node, the third communication node, the fourth communication node, and the fifth communication node whose link status is normal among the plurality of communication nodes, Lt; RTI ID = 0.0 > time-stamp < / RTI > Specifically, the time difference of the time stamps of the plurality of frames can be expressed by the following equation (2).

In Equation (2), the ECU 2 may denote a second communication node, and avtp_timestamp _(ECU2) may _denote a time indicated by the time stamp of the second communication node. Also, the ECU 3 may mean a third communication node, and avtp_timestamp _(ECU3) may mean a time indicated by the time stamp of the third communication node. Also, the ECU 4 may mean a fourth communication node, and avtp_timestamp _(ECU4) may mean a time indicated by the time stamp of the fourth communication node. Also, the ECU 5 may mean a fifth communication node, and avtp_timestamp _(ECU 5 ₎ may mean a time indicated by the time stamp of the fifth communication node.

That is, the first communication node may identify a plurality of time differences for the timestamps of the plurality of frames received from each of the plurality of communication nodes according to the method described above. The first communication node may then determine a synchronization error between the first communication node and the plurality of communication nodes based on the plurality of time differences.

Specifically, the first communication node may compare a plurality of time differences with a range according to a preset second threshold value. Specifically, if the preset second threshold value is y, the range according to the second threshold value can be expressed by the following equation (3).

The second threshold, denoted y in Equation (3), can be variably determined based on the specification of the electronic device including the first communication node within 1 to 2 <" ²³ > -1. For example, it can be assumed that the first communication node is included in a surround view monitor (SVM) system, and the allowed error for the reception time of the frame in the SVM system is at most one second. In such a case, the second threshold may be 5,000,000,000 ns. Accordingly, Equation (3) can be expressed as Equation (4) below.

The first communication node may determine that the synchronization is not normal if the plurality of time differences do not satisfy the range according to the second threshold value. In addition, the first communication node may determine that the synchronization is normal when a plurality of time differences satisfy a range according to the second threshold value. According to this method, the first communication node can determine a synchronization error between the first communication node and the second communication node based on the second time difference in step S507.

Hereinafter, a synchronization error between the first communication node and the second communication node on the basis of the second time difference at the first communication node may be determined, and the operation performed based on the determination result may be described with reference to FIG.

8 is a flowchart illustrating a second embodiment of a method for determining a synchronization error in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 8, the first communication node can determine whether synchronization between the first communication node and the second communication node is normal based on the method described in step S509 (S510). Thereafter, if the determined synchronization based on the second time difference is not normal, the first communication node may generate a frame including an indicator for indicating a synchronization error (S511).

Thereafter, the first communication node may transmit a frame including an indicator indicating a synchronization error to the second communication node and the third communication node (S512). Here, the first communication node may transmit a frame including an indicator for indicating a synchronization error to the second communication node and the third communication node, as well as the communication node controlling the first communication node. Here, the communication node controlling the first communication node may be a communication node performing a function of a switch or a communication node performing a function of a gateway. Also, the first communication node may transmit a frame including an indicator indicating a synchronization error to a plurality of communication nodes.

Meanwhile, if the determined synchronization based on the second time difference is normal, the first communication node can receive a plurality of frames from the second communication node and the third communication node, respectively (S513). That is, the first communication node may receive a plurality of frames from the second communication node and may receive a plurality of frames from the third communication node.

Thereafter, the first communication node may identify the frame error based on the continuity of the sequence numbers of each of the plurality of frames (S514). Here, the sequence number may refer to a number indicated by the sequence number field described with reference to FIG. That is, the first communication node can confirm the continuity of the numbers represented by the sequence number field of the plurality of frames received from each of the first communication node and the second communication node, and can confirm the frame error based on the continuity of the identified number have. Here, a frame error may indicate an error in the order in which the frame is received.

Specifically, when there is no continuity in the number indicated by the sequence number field of the plurality of frames received from each of the first communication node and the second communication node, the first communication node determines that the received plurality of frames are not normal can do. The first communication node may also determine that the received plurality of frames are normal if there is a continuity of the numbers represented by the sequence number field of the plurality of frames received from the first communication node and the second communication node, respectively.

Hereinafter, a frame error is determined based on the continuity of the sequence numbers of each of the plurality of frames at the first communication node, and the operation performed based on the determination result can be described with reference to FIG.

9 is a flowchart illustrating a method of determining a frame error in a vehicle network according to an exemplary embodiment of the present invention.

Referring to FIG. 9, the first communication node may determine whether frames of a plurality of frames are normal based on the method described in step S514 (S515). Then, the first communication node confirms at least one communication node that transmitted a plurality of frames that are not normal based on continuity among the second communication node and the third communication node, if the frame confirmed based on continuity is not normal (S516). Thereafter, the first communication node may generate a frame including an indicator indicating a loss of a frame (S517).

Thereafter, the first communication node may transmit a frame including an indication indicating loss of frame to at least one communication node (S518). Here, the first communication node can transmit a frame including an indicator for indicating frame loss to at least one communication node, as well as to a communication node controlling the first communication node. Here, the communication node controlling the first communication node may be a communication node performing a function of a switch or a communication node performing a function of a gateway. Also, the first communication node may transmit a frame including an indicator indicating a synchronization error to a plurality of communication nodes.

On the other hand, if the confirmed frame is normal based on continuity, the first communication node can output information included in the plurality of frames received from the second communication node and the third communication node, respectively (S519).

Through the method as described above, the first communication node in the vehicle network can check the link status, synchronization error and frame error for a plurality of communication nodes connected to the first communication node. That is, the first communication node can detect an error in the vehicle network by performing a method of operating the communication node for error detection according to an embodiment of the present invention. Hereinafter, an embodiment in which a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention is applied can be specifically described with reference to FIG. 10 to FIG.

10 is a conceptual diagram showing a first embodiment of a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 10, a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention may be performed in the SVM system 1100. Here, the SVM system 1100 may refer to a first communication node that performs a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention described with reference to FIGS. 5 to 9 . In addition, the SVM system 1100 may include a first communication node that performs a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention. For example, the SVM system 1100 may refer to a system that controls a plurality of cameras installed in a vehicle.

First, in the vehicle network, the SVM system 1100 can be connected to a plurality of cameras. For example, the plurality of cameras may refer to a camera installed in a vehicle, and may include a first camera 1110, a second camera 1120, a third camera 1130, and a fourth camera 1140 . Specifically, the first camera 1110 may refer to a front camera installed in front of the vehicle. In addition, the second camera 1120 may refer to a rear camera installed behind the vehicle. Also, the third camera 1130 may mean a left camera installed on the left side of the vehicle. In addition, the fourth camera may mean a right camera installed on the right side of the vehicle.

Here, the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 may be connected to the SVM system 1100, and the SVM system 1100 may perform time synchronization synchronization can be performed. Accordingly, in the vehicle network, the SVM system 1100 and a plurality of cameras can be time synchronized. Here, the time synchronization between the SVM system 1100 and the plurality of cameras may be performed sequentially or concurrently with a plurality of cameras.

Hereinafter, each of the plurality of cameras may generate a frame including information on an image photographed through each of the plurality of cameras. Then, the plurality of cameras may transmit a frame including information on the image to the SVM system 1100. [ Here, a frame transmitted from a plurality of cameras may have the same structure as the frame described with reference to FIG.

For example, the first camera 1110 can capture the front of the vehicle, and can generate a first image frame including information about the photographed image. Then, the first camera 1110 can transmit the generated first image frame to the SVM system 1100. In addition, the second camera 1120 can photograph the rear of the vehicle, and can generate a second image frame including information on the photographed image. The second camera 1120 may then transmit the second image frame to the SVM system 1100. Also, the third camera 1130 can photograph the left side of the vehicle, and can generate a third image frame including information on the photographed image. Then, the third camera 1130 can transmit the generated third image frame to the SVM system 1100. In addition, the fourth camera 1140 can photograph the right side of the vehicle, and can generate a fourth image frame including information on the photographed image. After that, the fourth camera 1140 can transmit the generated fourth image frame to the SVM system 1100.

Then, the SVM system 1100 can receive image frames generated from each camera from each of the plurality of cameras. Thereafter, the SVM system 1100 can detect an error in the vehicle network by performing a method of operating the communication node for error detection in the vehicle network according to an embodiment of the present invention. Specifically, the SVM system 1100 is configured to receive a network message that can be received from the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140, 1100 and the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140, respectively.

The SVM system 1100 then receives the first image frame received from the first camera 1110, the second image frame received from the second camera 1120, the third image frame received from the third camera 1130, The synchronization error of the SVM system 1100 can be confirmed based on the time stamp of each of the fourth image frames received from the fourth camera 1140. A specific method of confirming the synchronization error in the SVM system 1100 may be the same as the method described with reference to FIGS. 5 to 9.

The SVM system 1100 may receive a plurality of image frames from the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140, respectively. The SVM system 1100 can check the sequence numbers of the plurality of image frames received from the first camera 1110, the second camera 1120, the third camera 1130 and the fourth camera 1140 . The SVM system 1100 may then check the frame error based on the continuity of the sequence numbers of the plurality of image frames.

In this way, in the vehicle network, the SVM system 1100 can generate a frame including an indicator indicating an error generated when at least one of a link state, a synchronization error, and a frame error occurs, And transmit the generated frame to a plurality of cameras connected to the SVM system 1100. [ In addition, the SVM system 1100 may transmit a plurality of cameras, as well as the SVM system 1100 to a controllable communication node.

On the other hand, when the plurality of image frames received from the first camera 1110, the second camera 1120, the third camera 1130 and the fourth camera 1140 are normal, Information about the image included in the frames can be obtained. Thereafter, the SVM system 1100 can generate an image using information on the acquired image, and output the generated image. For example, when the SVM system 1100 is connected to a display device, the SVM system 1100 may use the information about the acquired image to inform the user who operates the vehicle of the image sensed by the plurality of cameras A video or a message for guiding information can be generated, and the generated video or message can be outputted through a display device.

11 is a conceptual diagram showing a second embodiment of a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention.

Referring to FIG. 11, an operation method of a communication node for error detection in a vehicle network according to an embodiment of the present invention may be performed in an ADAS system (advanced driver assistance system) 1200. Herein, the ADAS system 1200 may refer to a first communication node that performs a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention described with reference to FIGS. 5 to 9 . The ADAS system 1200 may also include a first communication node that performs a method of operating a communication node for error detection in a vehicle network according to an embodiment of the present invention. For example, the ADAS system 1200 may refer to a state of the art driver assistance system for a user operating a vehicle.

First, in the vehicle network, the ADAS system 1200 may be coupled to a plurality of electronic devices. For example, a plurality of electronic devices may include a first sensor 1210, a second sensor 1220, a third sensor 1230, a camera 1240, and a radar 1250 for the ADAS system 1200 have. Specifically, the first sensor 1210 may mean an infrared sensor installed in front of the vehicle. Also, the second sensor 1220 may mean a left sensor installed on the left side of the vehicle. Also, the third sensor 1230 may mean a right sensor installed on the right side of the vehicle. In addition, the camera 1240 may refer to a camera installed in the vehicle. Further, the radar 1250 may mean a radar installed in the vehicle.

Here, the first sensor 1210, the second sensor 1220, the third sensor 1230, the camera 1240 and the radar 1250 may be connected to the ADAS system 1200, Synchronization can be performed. Accordingly, the ADAS system 1200 and a plurality of electric devices in the vehicle network can be time synchronized. Here, the time synchronization between the ADAS system 1200 and the plurality of electronic devices may be performed sequentially, or simultaneously, of a plurality of electronic devices.

Thereafter, the plurality of electronic devices perform the function of each of the plurality of electronic devices, thereby generating a frame including the obtained information. The plurality of electronic devices may then transmit a frame containing the obtained information to the ADAS system 1200. Here, a frame transmitted from a plurality of electronic devices may have the same structure as described with reference to Fig.

For example, the first sensor 1210 may sense an object approaching the vehicle in front of the vehicle, and may generate a first sensing frame including information about the sensed object. The first sensor 1210 may then transmit the generated first sense frame to the ADAS system 1200. Also, the second sensor 1220 can detect an object approaching the vehicle from the left side of the vehicle, and can generate a second sensing frame including information on the sensed object. The second sensor 1220 may then transmit the generated second sensing frame to the ADAS system 1200. [ In addition, the third sensor 1230 may sense an object approaching the vehicle from the right side of the vehicle, and may generate a third sensing frame including information on the sensed object. The third sensor 1230 may then transmit the generated third sensing frame to the ADAS system 1200.

In addition, the camera 1240 can photograph the periphery of the vehicle at a position set on the vehicle, and can generate an image frame including information on the photographed image. Then, the camera 1240 can transmit the generated image frame to the ADAS system 1200. In addition, the radar 1250 can detect an object existing in the vicinity of the vehicle at a position installed in the vehicle, and can generate a radar frame including information on the sensed object. The radar 1250 may then transmit the generated radar frame to the ADAS system 1200.

Thereafter, the ADAS system 1200 can receive frames generated in each electric device from a plurality of electric devices. Thereafter, the ADAS system 1200 can detect an error in the vehicle network by performing a method of operating a communication node for error detection in the vehicle network according to an embodiment of the present invention. Specifically, the ADAS system 1200 determines whether or not a network message that can be received from the first sensor 1210, the second sensor 1220, the third sensor 1230, the camera 1240, and the radar 1250 is received The ADAS system 1200 and the first sensor 1210, the second sensor 1220, the third sensor 1230, the camera 1240, and the radar 1250, respectively.

The ADAS system 1200 then receives the first sensing frame received from the first sensor 1210, the second sensing frame received from the second sensor 1220, the third sensing frame received from the third sensor 1230, The synchronization error of the ADAS system 1200 can be confirmed based on the time stamp of each of the image frame received from the camera 1240 and the radar frame received from the radar 1250. [ A concrete method of checking the synchronization error in the ADAS system 1200 may be the same as the method described with reference to Figs. 5 to 9.

The ADAS system 1200 then receives signals from the first sensor 1210, the second sensor 1220, the third sensor 1230, the camera 1240 and the radar 1250 from the first sensor 1210, The second sensor 1220, the third sensor 1230, the camera 1240, and the radar 1250. The ADAS system 1200 may then determine the sequence number of the frame received from each of the first sensor 1210, the second sensor 1220, the third sensor 1230, the camera 1240, and the radar 1250 . The ADAS system 1200 may then check the frame error based on the continuity of the sequence number of the identified frame.

In this way, in the vehicle network, the ADAS system 1200 can generate a frame including an indicator indicating an error generated when at least one of a link state, a synchronization error, and a frame error occurs, And transmit the generated frame to a plurality of electric devices connected to the ADAS system 1200. [ ADAS system 1200 may also transmit a plurality of electrical devices, as well as ADAS system 1200, to controllable communication nodes.

If the frames received from the first sensor 1210, the second sensor 1220, the third sensor 1230, the camera 1240, and the radar 1250 are normal, the ADAS system 1200 transmits It can acquire the included information. Thereafter, the ADAS system 1200 can generate an image using the obtained information, and output the generated image. For example, when the ADAS system 1200 is connected to a display device, the ADAS system 1200 may use the obtained information to display a video or a message to guide a user operating the vehicle to information detected in a plurality of electric devices And output the generated image or message through the display device.

The methods according to the present invention can be implemented in the form of program instructions that can be executed through various computer means and recorded on 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 computer readable medium may be those specially designed and constructed for the present invention or may be available to those skilled in the computer software.

Examples of computer readable media include hardware devices that are specially 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 generated 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 devices described above may be configured to operate with at least one software module to perform the operations of the present invention, and vice versa.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. It will be possible.

Claims (16)

A method of operating a first communication node in an ethernet-based vehicle network,
Confirming a link state between each of a plurality of communication nodes included in the vehicle network and the first communication node;
Receiving a first frame from a second communication node whose link status is normal among the plurality of communication nodes;
Identifying a first time difference between a local time of the first communication node and a time stamp of the first frame; And
And determining a synchronization error between the first communication node and the second communication node based on the first time difference. The method according to claim 1,
The method of claim 1,
Generating a frame including an indicator indicating a synchronization error if the synchronization determined based on the first time difference is not normal; And
And transmitting a frame including an indicator indicating the synchronization error to the second communication node. The method according to claim 1,
The method of claim 1,
When a synchronization determined based on the first difference is normal, a second time interval between a time stamp of a second frame received from a third communication node whose link status is normal among the plurality of communication nodes and a time stamp of the first frame Identifying the difference; And
And determining a synchronization error between the first communication node and the second communication node based on the second time difference. The method of claim 3,
The method of claim 1,
Generating a frame including an indicator indicating a synchronization error if the synchronization determined based on the second time difference is not normal; And
And transmitting a frame including an indicator indicating the synchronization error to the two communication nodes and the third communication node. The method of claim 3,
The method of claim 1,
Receiving a plurality of frames from each of the second communication node and the third communication node when the determined synchronization based on the second time difference is normal; And
Further comprising identifying a frame error based on a continuity of a sequence number of each of the plurality of frames. In claim 5,
The method of claim 1,
Identifying at least one communication node transmitting a plurality of non-normal frames based on the continuity of the second communication node and the third communication node when the identified frame based on the continuity is not normal;
Generating a frame including an indicator indicating a loss of the frame; And
Further comprising transmitting to the at least one communication node a frame including an indicator indicating a loss of the frame. ≪ Desc / Clms Page number 21 > The method of claim 5,
The method of claim 1,
Further comprising outputting information contained in a plurality of frames received from each of the second communication node and the third communication node when the confirmed frame is normal based on the continuity, How the node works. The method according to claim 1,
Wherein the first communication node comprises:
Wherein the first communication node is a communication node capable of removing the plurality of communication nodes by performing a function of a switch in the vehicle network. A first communication node in an ethernet-based vehicle network,
A processor; And
Wherein at least one instruction executed through the processor includes a memory,
Wherein the at least one instruction comprises:
Identify a link state between each of the plurality of communication nodes included in the vehicle network and the first communication node;
Receiving a first frame from a second communication node whose link status is normal among the plurality of communication nodes;
Identify a first time difference between a local time of the first communication node and a time stamp of the first frame; And
And to determine a synchronization error between the first communication node and the second communication node based on the first time difference. The method of claim 9,
Wherein the at least one instruction comprises:
Generating a frame including an indicator indicating a synchronization error if the synchronization determined based on the first time difference is not normal;
And to transmit to the second communication node a frame containing an indicator indicating the synchronization error. The method of claim 9,
Wherein the at least one instruction comprises:
When a synchronization determined based on the first difference is normal, a second time interval between a time stamp of a second frame received from a third communication node whose link status is normal among the plurality of communication nodes and a time stamp of the first frame Identify differences; And
And to determine a synchronization error between the first communication node and the second communication node based on the second time difference. The method of claim 11,
Wherein the at least one instruction comprises:
Generating a frame including an indicator indicating a synchronization error if the synchronization determined based on the second time difference is not normal; And
And to transmit a frame including an indicator indicating the synchronization error to the two communication nodes and the third communication node. The method of claim 11,
Wherein the at least one instruction comprises:
Receiving a plurality of frames from each of the second communication node and the third communication node when the synchronization determined based on the second time difference is normal; And
And to determine a frame error based on continuity of a sequence number of each of the plurality of frames. In claim 13,
Wherein the at least one instruction comprises:
Identify at least one communication node transmitting a plurality of non-normal frames based on the continuity of the second communication node and the third communication node, if the frame identified based on the continuity is not normal;
Generating a frame including an indicator indicating a loss of the frame; And
Wherein the at least one communication node is further configured to transmit a frame containing an indication indicating loss of the frame to the at least one communication node. 14. The method of claim 13,
Wherein the at least one instruction comprises:
And to output information contained in a plurality of frames received from each of the second communication node and the third communication node when the frame confirmed based on the continuity is normal. The method of claim 9,
Wherein the first communication node comprises:
Wherein the first communication node is a communication node capable of removing the plurality of communication nodes by performing a function of a switch in the vehicle network.

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