KR20220076961A - Master controller of vehicle, slave controller of vehicle, and task scehduling message sending mehotd thereof - Google Patents

Abstract

The master controller for a vehicle according to a preferred embodiment of the present invention includes a table storage in which a schedule table including scheduling information related to task performance of each of a plurality of slave controllers is stored, and a scheduling can message to include the scheduling information of the schedule table. and a message generator for generating the message, and a transceiver for transmitting the scheduling CAN message to the plurality of slave controllers.

Description

A master controller for a vehicle, a slave controller for a vehicle, and a method for performing tasks of a vehicle slave controller

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

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

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

Meanwhile, various electronic control systems, such as advanced driver assistance systems (ADAS), which have increased in complexity, have recently been applied to vehicles.

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

For interworking of a plurality of controllers, a technique for implementing a scheduling algorithm related to task execution time to each of the plurality of controllers is required.

Currently, a technique for implementing a scheduling algorithm has been proposed in several ways. Among the various methods, in the case of a method of manufacturing separate software that implements synchronization between a plurality of controllers, it is more important to secure reliability of the operation of the software and add an OS. It is required, and there is a problem in that cost and development difficulty increase. Accordingly, the above-described method cannot be defined as industrial standardization.

Republic of Korea Patent Publication No. 2020-0056838

Accordingly, the present invention has been devised in view of the above circumstances, and it provides a method for performing tasks of a vehicle master controller, a vehicle slave controller, and a vehicle slave controller that implements a task scheduling algorithm between a plurality of controllers using vehicle CAN communication. aim to

In accordance with a preferred embodiment of the present invention for achieving the above object, there is provided a vehicle master controller, comprising: a table storage unit for storing a schedule table including scheduling information related to task performance of each of a plurality of slave controllers; a message generator for generating a scheduling CAN message to include the scheduling information of the schedule table; and a transceiver configured to transmit the scheduling CAN message to the plurality of slave controllers.

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

The data field may be divided on the basis of one byte to include a plurality of sub data fields, and the scheduling information may be input to each of the plurality of sub data fields.

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

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

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

When there is a request to change the operation period of the task, the offset time and duration of the table value for the task for which the operation period change request is made may be changed.

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

The method may further include an operation period determining step of determining whether an operation period change of the task is necessary.

If it is necessary to change the operation period of the task, the method may further include a value changing step of changing a table value of a pre-prepared reference table.

The value changing step may change an offset time and duration of the table value related to an operation period of the task.

According to the method for performing tasks of the vehicle master controller, the vehicle slave controller, and the vehicle slave controller according to a preferred embodiment of the present invention, by transmitting a scheduling CAN message including task scheduling information through the vehicle CAN communication, the A task scheduling algorithm can be implemented.

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

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

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

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

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, it should be noted that in adding reference numerals to the components of each drawing, the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, preferred embodiments of the present invention will be described below, but the technical spirit of the present invention is not limited thereto and may be variously implemented by those skilled in the art without being limited thereto.

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

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

The vehicle slave controller, upon receiving the scheduling CAN message from the master controller 100, performs a task by using scheduling information included in the scheduling CAN message.

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

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

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

The message generating unit 120 may generate a scheduling CAN message to include any one or more scheduling information in the schedule table. The message generator 120 may generate a scheduling CAN message according to a standard data frame prepared in advance.

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

In an embodiment, the task includes a task that needs to be always performed and a task that is not always performed. If a task that is not always performed continuously operates, the CPU load of the corresponding controller is generated, and there is a problem in that the operation of other tasks that prioritize real-time is not performed smoothly.

To solve this problem, the slave controller for a vehicle according to the present invention may request scheduling information for a diagnostic task from the master controller 100 when it is determined that it is necessary to perform a task that is not always performed (eg, a diagnostic task). . The vehicle slave controller may perform a corresponding diagnosis task after receiving the scheduling CAN message from the master controller 100 . Accordingly, the vehicle slave controller is provided with a method for arbitrarily turning on or off the diagnostic task, and it is possible to operate the diagnostic task only when necessary.

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

In the case of the watchdog task, abnormal operation of the vehicle slave controller is monitored, and the watchdog task and various other tasks are factors that can determine whether the vehicle slave controller operates abnormally (e.g., whether an Ethernet message is transmitted, It already has the live count (Alive Count) of the CAN message and the peripheral input/output interface (Peripheral I/O).

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Referring to Tables 2 to 4, the slave controller receiving the scheduling CAN message reprocesses the format of the scheduling CAN message with reference to the value indicated by each index, and determines which scheduling function to execute. can

FIG. 4 is a diagram illustrating a task execution process using the scheduling CAN message of the slave controller of FIG. 1 as a time flow.

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

The master controller 100 transmits a scheduling CAN message including scheduling information to the first slave controller 200 in response thereto.

Then, the first slave controller 200 receives the scheduling CAN message. The first slave controller 200 checks the message ID in the identifier field of the scheduling CAN message. The first slave controller 200 checks whether the message ID is a scheduling CAN message including scheduling information.

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

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

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

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

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

When receiving the scheduling CAN message from the master controller 100 , the first slave controller 200 may perform the above-described operation again. In this case, the first slave controller 200 may perform the second function (Func#2) of the task according to the changed offset time and duration. As such, since the first slave controller 200 can change the operation period of a specific task during runtime, other tasks can be performed during the operation period.

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

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

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

In the value change step S520 , the slave controller 200 changes the table value of the pre-prepared reference table when it is necessary to change the operation period of the task. Here, the slave controller 200 may change the offset time and duration of the table value.

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

In the receiving step S540 , the slave controller 200 receives a scheduling CAN message including scheduling information from the master controller 100 . Here, the master controller 100 may generate a scheduling CAN message by using scheduling information of a pre-prepared schedule table.

In the task execution step ( S550 ), the slave controller 200 performs a task according to the scheduling information of the scheduling CAN message.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings .

Steps and/or operations according to the present invention may occur concurrently in different embodiments, either in a different order, or in parallel, or for different epochs, etc., as would be understood by one of ordinary skill in the art. can

Depending on the embodiment, some or all of the steps and/or operations run instructions, a program, an interactive data structure, a client and/or a server stored in one or more non-transitory computer-readable media. At least some may be implemented or performed using one or more processors. The one or more non-transitory computer-readable media may be illustratively software, firmware, hardware, and/or any combination thereof. Further, the functionality of a “module” discussed herein may be implemented in software, firmware, hardware, and/or any combination thereof.

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

Claims (11)

a table storage unit for storing a schedule table including scheduling information related to task performance of each of the plurality of slave controllers;
a message generator for generating a scheduling CAN message to include the scheduling information of the schedule table; and
a transceiver for transmitting the scheduling CAN message to the plurality of slave controllers;
A vehicle master controller comprising a. The method of claim 1,
The scheduling can message is
and a data frame including an identifier field in which a message ID corresponding to the scheduling CAN message is input and a data field in which the scheduling information is input. 3. The method of claim 2,
The data field is divided on the basis of one byte and includes a plurality of sub data fields,
The master controller for a vehicle, characterized in that the scheduling information is input to each of the plurality of sub data fields. The method of claim 1,
The scheduling information is
ECU ID indicating the ID for the slave controller to perform the task;
A TASK ID that can identify the task;
TASK Priority indicating the priority of the task,
TASK Start Offset Time Table Index indicating a table index value to designate an offset time for the start time of the task;
TASK Duration Table Index indicating a table index value to set the duration of the task, and
TASK Function Table Index indicating the table index value to set the function of the task
A vehicle master controller comprising a. A slave controller for a vehicle that receives a scheduling CAN message including scheduling information from a master controller, performs a task according to the scheduling information, and stores a reference table including table values referenced in the scheduling information. 6. The method of claim 5,
The table value is a vehicle slave controller, characterized in that it includes an offset time, a function of a task, and a duration. 7. The method of claim 6,
When there is a request for changing the operation period of the task, the slave controller for a vehicle, characterized in that the offset time and duration of the table value for the task for which the operation period change request is changed is changed. a scheduling information request step of requesting scheduling information from a master controller;
a receiving step of receiving a scheduling CAN message including the scheduling information from the master controller; and
a task performing step of performing a task according to the scheduling information;
A method of performing a task of a vehicle slave controller comprising a. 9. The method of claim 8,
Operation period determination step of determining whether it is necessary to change the operation period of the task
A method of performing a task of a slave controller for a vehicle, characterized in that it further comprises a. 10. The method of claim 9,
When it is necessary to change the operation period of the task, a value change step of changing the table value of the reference table prepared in advance
A method of performing a task of a slave controller for a vehicle, characterized in that it further comprises a. 11. The method of claim 10,
The value change step is
The method of performing a task of a slave controller for a vehicle, characterized in that the offset time and duration of the table value related to the operation period of the task are changed.

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