WO2004093397A1 - ルーティング制御方法、ルータ装置、及び端末装置 - Google Patents
ルーティング制御方法、ルータ装置、及び端末装置 Download PDFInfo
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- WO2004093397A1 WO2004093397A1 PCT/JP2004/005292 JP2004005292W WO2004093397A1 WO 2004093397 A1 WO2004093397 A1 WO 2004093397A1 JP 2004005292 W JP2004005292 W JP 2004005292W WO 2004093397 A1 WO2004093397 A1 WO 2004093397A1
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- Prior art keywords
- routing
- message
- router
- stop
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/2854—Wide area networks, e.g. public data networks
- H04L12/2856—Access arrangements, e.g. Internet access
- H04L12/2869—Operational details of access network equipments
- H04L12/2898—Subscriber equipments
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/58—Association of routers
- H04L45/586—Association of routers of virtual routers
Definitions
- Routing control method Routing control method, router device, and terminal device
- the present invention relates to a router device, and particularly to a LAN in which there are two or more router devices having a function of connecting to an external network, a routing control method for performing default router switching control of a terminal device, a router device, and It relates to a terminal device.
- a terminal device that performs mobile communication has been realized by adding a wireless access interface to a portable terminal.
- the wireless access network connected by the wireless access interface has different power coverage, bandwidth, communication fee, etc., depending on the type.For example, in order to continue communication no matter where you move, you need to support multiple wireless access networks with different coverage. It was necessary to add an interface or replace it depending on the location.
- a wireless access interface is added to one of a group of portable terminals connected by a short-range wireless interface that is less costly than the wireless access interface and has a smaller device size, and is used as a router device.
- Other mobile terminals are connected to an external network via a router device, which eliminates the need to install a wireless access interface in each terminal device.
- a so-called default router device is used as a terminal device.
- a neighbor discovery protocol Neighbor Discovery for IP Version 6 or ND
- IPv6 J T .Nart, et al., RFC246K IETF, December 1998.
- a router advertisement (Router Advertisement) message containing the following information is sent from a router device periodically or in response to a request from a terminal device (Router Solicitation message, hereinafter referred to as an RS message). (Hereinafter referred to as RA message) is sent.
- the terminal device that has received these adds the above information to its default router list and neighbor cache.
- the terminal device selects the default router from the entries in the default router list and communicates with the outside.
- one of the duplicated router devices is designated as master router and the other as backup, and a health check request is made from back-up to overnight and a health check request is returned from master and overnight.
- a backup for example, see Japanese Patent Application Laid-Open No. H11-261615.
- An object of the present invention is to eliminate a long-term interruption of communication and a packet loss by switching from a master router to a backup router at a predetermined timing even if a failure occurs in a master router router device.
- Another object of the present invention is to provide a routing control method, a router device, and a terminal device for efficiently operating network resources.
- the router device is used when the connection to the external network is overloaded or when the wireless interface
- the routing stop message is sent to all nodes in the LAN ( Broadcasting to another router or terminal device)
- the routing stop message is received by the other router, its own routing function can be executed or after a predetermined time
- executable, routable messages are broadcast to all nodes (other routers and terminals) in the LAN to achieve high-speed router switching.
- a router device that has already stopped its routing function receives a packet from the LAN to the external network, it stores it in its own buffer until it receives a routable message from another router device. Then, by transferring the packet to the router device after switching, the bucket loss is suppressed.
- a routing control method provides at least one terminal device having at least one RAN interface, and at least one terminal device having a routing function of relaying data between a LAN and an external network.
- the routing function is executed during the execution of the routing function. If the provision is impossible or expected to be impossible, a routing stop message for notifying the stop of the routing function is broadcasted, and another router device receiving the routing stop message can execute the routing function. In this case, the routing function is switched by broadcasting routable messages.
- the routing control method is characterized in that the first router device monitors a connection state with an external network, and determines that the connection should be released, until the first router device stops the routing function. Sending a message notifying a routing stop time, which is a time, to a node on a local area network to be connected; When the second router device that has received the one-stop message can execute the routing function, it connects the routable message that notifies the transition time, which is the time until the routing function becomes available, to connect the local area. Transmitting to a node on the network, and the node receiving the routing stop message and the routable message switching the transmission to the first router to the second router. It is.
- the routing control method is characterized in that the first router device stores the electronic message when the electronic device receives an electronic message toward an external network after the routing function is stopped. Transferring the stored message to the second router device after the router device receives the routable message from the second router device.
- the routing control method according to a fourth aspect of the present invention is the routing control method according to the third aspect, further comprising: after the first router device receives the routable message. The transmitted message is transferred to the second device.
- the routing control method is the routing control method according to the second aspect, wherein the second router device includes the routing stop time in a message received from the first router device. If the value is equal to or less than a predetermined threshold value, it is determined that the routing function is stopped. This allows notification of the suspension of routing without a specific message.
- the router device receives a routing stop message for notifying a routing stop time, which is a time until the routing function stops, from another routing device that is executing the routing function.
- a transition time calculating unit that calculates a time required until the routing function is started, and a routable message that generates a routable message notifying the required time.
- a generating area and a local area for connecting the routable message A possible message transmitting unit for transmitting to a node on the network.
- interruption of communication can be prevented by taking over the routing function in place of another router device that cannot continue the routing function.
- the router device is the router device according to the sixth aspect, wherein the status monitoring unit monitors a connection status with an external network and determines whether or not to release the connection.
- the status monitoring unit monitors a connection status with an external network and determines whether or not to release the connection.
- a routing stop time calculating unit that calculates a time until the routing stops, and a routing stop that describes the calculation time from the routing stop time calculating unit
- a routing stop message generating unit for generating a message
- a stop message transmitting unit for transmitting the routing stop message to a node on a local area network to be connected.
- the router device is the router device according to the seventh aspect, wherein the external network received from the local area network connected after the stopping of the routing function.
- the routing stop message is a router advertisement message of ICMPV6, and the routing stop time is indicated in a life time field. It is set and broadcasts the routing stop message.
- the routing apparatus is the routing apparatus according to the seventh aspect, wherein the routing stop message is transmitted when the routing stop time of the received routing stop message is equal to or less than a predetermined threshold. It is determined that the original router device is in transition to stopping the routing function.
- the routable message is an ICMP v6 overnight advertisement message, and a routing function is executed in an attainable time field. The time until it becomes possible is set, and the routable message is broadcast.
- a terminal device is a routing stop message for notifying a routing stop time that is a time until the routing function is stopped from the first router device executing the routing function.
- Notify the routable time which is the time until the routing function can be executed from the second router device
- a terminal receiving unit for receiving a routable message, and switching communication with the external network from the first router device to the second router device based on the routing stop message and the routable message received by the terminal receiving unit It has a router switching unit.
- the switching timing by the router switching unit is after the elapse of the routing stop time, and the elapse of the routable time. It is time.
- the master router when a failure occurs in the master router, the master router is switched from overnight to backup without delay, and the default router of the terminal device can be switched without delay. As a result, packet loss can be kept low, and network resources can be operated efficiently.
- FIG. 1 is a diagram showing a network configuration according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram showing a configuration of the terminal device according to Embodiment 1 of the present invention.
- FIG. 3 is a diagram showing a configuration of the roaster device according to the first embodiment of the present invention.
- FIG. 4 is a flowchart showing a first operation of the terminal device according to Embodiment 1 of the present invention.
- FIG. 5 is a flowchart showing a second operation of the terminal device according to Embodiment 1 of the present invention.
- FIG. 6 is a flowchart showing a first operation of the router device according to Embodiment 1 of the present invention.
- FIG. 7 is a flowchart showing a second operation of the router device according to Embodiment 1 of the present invention. is there.
- FIG. 8 is a diagram showing a configuration of a roubaix advertisement message according to Embodiment 1 of the present invention.
- FIG. 9 is a diagram showing a first configuration of the default router management table according to Embodiment 1 of the present invention.
- FIG. 10 is a diagram showing a second configuration of the default router management table according to Embodiment 1 of the present invention.
- FIG. 11 is a diagram showing a third configuration of the default router management table according to Embodiment 1 of the present invention.
- FIG. 12 is a diagram showing a fourth configuration of the default router management table according to Embodiment 1 of the present invention.
- FIG. 13 is a diagram showing a configuration of the neighborhood cache table according to Embodiment 1 of the present invention.
- FIG. 14 is a diagram showing a default changeover sequence according to Embodiment 1 of the present invention.
- FIG. 1 is a diagram illustrating a configuration of a network according to a first embodiment of the present invention.
- a router device 11 and a router device 12 provide a so-called routing function for relaying communication between the LAN 1 and an external network (Internet) 2.
- the external terminal device 16 exists on the external network 2.
- the access point devices 14 and 15 operate as Internet connection points of the router device 11 and the router device 12, respectively. Between the access point device 14 and the router device 11 and between the access point device 15
- the connection between the router devices 12 is illustrated as performing wireless communication, communication may be performed using a wired line, and the present invention is not limited to this. Either wireless communication or wired communication may be used between the terminal device 13 and the router device 11 or the router device 12.
- FIG. 3 is a diagram showing a configuration of the router device 11 or the router device 12.
- the LAN interface 31 performs physical layer processing and data link layer processing in communication with the terminal device 13 in LAN 1 and other routers
- the external network connection interface 34 is It connects to the external network 2 via the access points 14 and 15, and the IP routing processor 32 performs IP processing and routing processing.
- the upper layer processor 33 performs IP processing It performs higher-level TCP, UDP, and ICMP protocol processing and application processing.
- the status monitoring unit 35 disconnects the communication between the external network connection interface 34 and the access point devices 14 and 15 or uses a code division multiple access (CDMA) communication or the like. It detects the deterioration of the communication state due to an increase in the bit error rate and a decrease in the electric field strength in wireless communication.
- CDMA code division multiple access
- the backup router migration processing unit 36 determines whether to stop the router function based on the communication status notified from the status monitoring unit 35, and controls the processing until the router stops. Is what you do.
- the router stop time calculation unit 37 operates as a master router while the status monitoring unit
- buffer 3 Measures the time change of the increase of bit error rate and decrease of electric field strength notified from 5 and calculates the time to a preset allowable value, and sets the time to shutdown in the case of shutdown processing. It is. Note that buffer 3 8 adds the time that can be buffered and finally sets the expiration date 8 7. Also, when the buffer 38 stops the router function from the state where it is operating as a master station and becomes the backup station, the buffer 38 receives via the LAN interface 31 after the router function stops. Packets to the external network are temporarily stored, or received via the LAN interface 31 until the router function starts when the router switches from backup to master router. It temporarily stores packets to the external network.
- the master-one-transition determination unit 39 predicts whether or not the routing process can be executed by checking any of the following items.
- connection setup between the access points 14 and 15 and the external network connection interface 34 can be completed after a predetermined time.
- the router device 12 is in the sleep state and the setup of the routing process can be completed after a predetermined time.
- the transition time calculation unit 40 calculates the predetermined time in the above (1) and (2).
- FIG. 6 is a flowchart illustrating a processing procedure when the routing function cannot be executed in the routing device 11 executing the routing function.
- step S61 While the IP routing processing section 32 executes the normal routing processing (step S61), the state monitoring section 35 disables or disables the execution of the routing processing from the detected communication state.
- step S62 When it is predicted that the communication becomes possible (step S62), the backup router migration processing unit 36 is notified that the communication is impossible.
- step S63 After receiving the notification, the backup overnight transfer processing unit 36 creates a routing stop message (step S63), and the terminal device 1 3 existing on the LAN 1 And to the routers 12 by multicast (step S 6 4
- This routing stop message can be created using the format of the RA message 80 shown in FIG. RA message 80 is of type 81, code 82, checksum 83, hop limit 84, reservation 86, router life time 87, remaining time (Reachable time) 88, and It consists of each field of retransmission timer (Retrans Timer) 89. It is also possible to use a format different from the RA message 80.
- the expiration date 87 is specified in the routing stop message.
- the validity period 87 indicates the validity period of the notified information. If the execution of the routing process has already become impossible, the back-up-to-night transition processing unit 36 sets the expiration date 87 to 0, and cannot execute the process due to the detection of the deterioration of the communication state. If it is predicted that the time will expire, the time until the predicted routing stop time calculated by the router stop time calculating unit 37 is set as the expiration date 87. Next, the backup router migration processing unit 36 measures the time until the notified routing stop prediction time, and notifies the IP routing processing unit 32 when the time has elapsed. The IP routing processing section 32 receives this, and stops the routing processing (step S65).
- the IP routing processing unit 32 checks whether or not the bucket addressed to the external terminal device 16 has been received from the LAN interface 31 (step S66). It is checked whether or not a routable message has been received (here, the device 1 2) (step S 67). If the packet has been received, the bucket is transferred to the router device 12 (step S68), and the process returns to step S66.
- This routable message contains the MAC address of the device that sent the message and the time until the router function can be executed. On the other hand, if no routable message has been received, the packets are accumulated in the buffer until the predetermined amount is reached (step S69), and the process returns to step S66.
- FIG. 7 is a flowchart showing a processing procedure performed when the router device 12 as the backup router receives a routing stop message from the router device 11 as the master router.
- the IP routing processor 32 When receiving the routing stop message from the router 11 (step S71), the IP routing processor 32 notifies the master transition determining unit 39.
- the master transfer determination unit 39 determines whether the routing process can be already executed or whether it can be predicted that the routing process can be executed after a predetermined time (step S72), and becomes a master router. If it is determined that it is possible to do so, a routeable message is created (step S73), and broadcast to all terminal devices 13 and other router devices in LAN 1 by multicast. (Step S74). Thereafter, the IP routing processor 32 starts executing the routing function (step S75).
- the routable message uses the RA message 80 shown in FIG. 8 similarly to the routing stop message.
- the type of routable message is set in the Type 8 1 field
- the expiration date 8 7 field indicates the validity time of the information notified by this message
- the remaining time 8 8 The time until the routing function can be executed is set in.
- the RA message 80 is sent at the same time as the start of the execution of the routing process. You.
- the router device 12 has a buffer capable of storing packets, the RA message 80 is transmitted prior to the start of routing processing, and the received bucket is stored until the start of routing processing. It is also possible.
- step 71 if the received routing stop message uses the format of the RA message 80 of IPV 6, if the expiration time field 87 is below a certain threshold, the RA message It is determined that 80 is a routing stop message. This is the case where the RA message 80 of IPv6 or IPv4 is used, but the present invention is not limited to the format of the RA message 80, and any message that indicates the stop of routing is used. A configuration may be used.
- the routing stop message is transmitted from the master device to the routing device.
- the router device determines that it can be replaced, it can immediately start preparing for the operation of the routing function. This makes it possible to minimize the delay in switching between the master router and the backup router.
- FIG. 2 is a diagram showing a configuration of the terminal device 13.
- a LAN interface 21 performs a physical layer process and a data link layer process in communication with another terminal device and a router device existing in the LAN 1, and corresponds to a terminal receiving unit.
- the IP processing unit 22 performs IP processing, which is processing at the network layer.
- the upper layer processing unit 23 performs protocol processing such as TCP, UDP, ICMP, etc., which is higher than the network layer, and processing such as applications. Is what you do.
- the default list 24 is a router that can be used as a default router. It is a table in which a list of evening devices is recorded.
- the neighbor cache 25 is a table for obtaining a link layer address using the IP addresses of the terminal device and the router device existing on the LAN 1 as key information.
- the router switching unit 26 counts the transition time from the backup rule in the neighboring cache 25 to the master rule, and switches the default time at the timing of the change.
- the router switching unit 26 refers to the default router list 24 and the neighbor cache 25 at the time of transmitting a packet, and determines a router to transmit a packet to an external terminal device.
- the buffer 27 is a storage device for temporarily storing transmission packets, and the buffer 28 is for notifying the elapse of a unit time.
- FIGS. 9 to 12 show a configuration example of the default list 24, and FIG. 13 shows a configuration example of the neighborhood cache 25.
- the default router list 24 shown in FIG. 9 is a table showing a list of routers that can be used as the default router in the terminal device 13.
- the entry 901 shows registered router devices, and entry information. It has an expiration date RL (Router Lime ime) 902 indicating the remaining time until the expiration date, and a pointer 903 to the corresponding neighbor cache entry as information.
- RL Rotary Lime ime
- the neighbor cache 25 shown in FIG. 13 is a table for obtaining a link layer address using the IP addresses of the terminal device 13 and the routers 11 and 12 existing on the LAN 1 as key information.
- Each entry 1301 has, as information, an IP address 1302, a transition time 1303 indicating the remaining time until the time when the router function becomes operable, and a linkless address 1304.
- the configurations of the default router list 24 and the neighbor cache 25 in the present embodiment include only the minimum information necessary for the explanation, and may include other information.
- the neighborhood cache 25 is based on IPv6. In the case of IPV 4, the ARP table corresponds to the neighbor cache 25.
- the ARP table contains the neighbor cache 2 5 And in the following points.
- IP address The value of 132 is the IPv4 address.
- the IP processing unit 22 receives a bucket transmission request addressed to the external terminal device 16 from the upper layer processing unit 23 (step S41), and then determines a router device to transmit a packet to the router switching unit 26. Contact us.
- the router switching unit 26 checks whether or not the validity period 902 is greater than the threshold value TH for the entry 901 in the default router list 24 (step S42).
- Step S 4 3 If Lou evening switching unit 2 6 expiration threshold below the entry 9 0 1 checks whether there are other Ento Li (Step S 4 3), if there Ru returns to Step S 4 2. On the other hand, when there is no other entry, it is determined that the expiration dates of all the registered routers are equal to or less than the threshold, and the information is returned to the IP processing unit 22. In response, the IP processing unit 22 stores the packet in the buffer 27 or discards it (step S44). When the packet is stored in the buffer, the packet is transmitted again when the default router list 24 is updated. In addition, in IPv4 or IPv6, it is possible to search for a LAN device in LAN 1 by using an RS message. E Transmit the packet stored in the device.
- step S42 if the expiration date is larger than the threshold, the switching unit refers to the neighbor cache 25, and the transition time 1330 of this entry expires from the neighbor cache pointer 903 of this entry. (Step S 45), and if not, the router switching unit 26 sends a response to the IP processing unit 22 that there is no router device to send to. Then, proceed to step S44. On the other hand, if it has expired, the router switching unit 26 responds to the IP processing unit 22 with the link layer address 1344 of the device in the corresponding entry. IP processing unit 2 2 receives this, as the destination of the notification link layer address, and transmits the packet from the L AN interface 2 1 of the terminal apparatus 1 3, the processing is terminated (Step S 4 6) 0.
- the router switching unit 26 updates the expiration date and the transition time for all entries in the default list 24 each time the unit time notified from the timer 28 has passed (step S51). .
- the router switching unit 26 checks whether there is an entry whose expiration date has become 0 (step S52), and deletes the corresponding entry (step S53).
- the timing of the updating process of the default list 24 is not limited to the present embodiment, and may be updated only when transmitting a bucket. However, in order to use accurate values for the expiration date and transition time when transmitting a packet, it is also possible to update when the bucket is transmitted and it is necessary to refer to the default router list.
- the router switching unit 26 determines whether there is already an entry of the router device in the default router list. Is checked (step S55). If there is (S56), the validity period and the transition time are updated according to the contents of the RA message 80 that has received the contents of the entry (step S56), and the process returns to step S51. On the other hand, if there is no router device entry, add the router device to the default list. And terminates the process (step S57).
- the terminal device can quickly switch the other router device to the default router, and communicate using the routing function of the new routing device. Can be continued.
- the RA message of IPv6 is used for the routing stop message and the routable message, it is necessary to set the transfer fi 1 hour in the remaining time field and the routing stop time in the expiration time field.
- the same function as the terminal device according to the present embodiment can be realized. A similar effect can be obtained.
- FIG. 14 is a sequence diagram illustrating the default router switching according to the present invention.
- the terminal device 13 uses the communication device 11 as a default router for communication with the external terminal device 16.
- the communication data 101 is transmitted to the communication device 11 .
- FIG. 9 shows the default router list 24 of the terminal device 13 at this time.
- the router device 11 determines that the communication state between the external network connection interface 34 and the access point 14 has deteriorated, and that the routing function cannot be executed after one second (step S110).
- the routing stop message 120 is broadcast to the router 12 and the terminal 13.
- the communication device 102 transmitted from the terminal device 13 is accumulated in the router device 11.
- Terminal device 13 that received the routing stop message 1 20
- the artist 1 100 is shown in FIG. This indicates that the expiration date of the router device 1 is 90 2 and 1 second.
- the router device 12 Upon receiving the routing stop message 120, the router device 12 starts setting up a connection between its own external network connection interface 34 and the access point 15 and, for example, expects that the setup will be completed after 30 O msec (Step S111). Then, the router 12 broadcasts the routable message 12 1 to the router 11 and the terminal 13.
- the terminal device 13 After receiving the routing stop message 120, the terminal device 13 holds the transmission of the communication data 103 to the external terminal device 16 and is included in the routing stop message 120.
- the default switchover is performed at a predetermined timing determined by the routing stop time and the routing start time included in the routing start message 12 1.
- the communication data 103 is transmitted to the router device 12.
- the terminal 13 When receiving the routable message 12 1 from the router 12, the terminal 13 updates the default router list 110 to the one shown in FIG.
- the terminal device 13 uses the router device 11 as a default overnight for one second, and then updates the default default list 1200 to the one shown in FIG. Then, after the default router list becomes as shown in FIG. 12, the terminal device 13 continues communication with the external terminal device 16 by using the router overnight as the default router. I do.
- the router 1 1 1 determines that the router 1 2 will take over the routing function, and transmits the stored communication data 10 2. To the device.
- the router device 1 when the terminal device 13 communicates with the external terminal device 16 as a relay point of the router device 11 to the external network 2, that is, a so-called default router, the router device 1 It is impossible to provide the routing function by 1 At the time when this is predicted, it becomes impossible to provide the routing function from the router device 11 to all the other nodes (here, the terminal device 13 and the router device 12) existing in the LAN 1.
- the router device 12 that has broadcasted the routing stop message indicating that the router device 12 has received the routing stop message can perform all of its own routing functions.
- a routable message is broadcast to the terminal device 13 and the router device 11).
- the terminal device 13 can switch the default router from the router device 11 to the router device 12 using the routing stop message and the routable message, so that the default router switching delay time can be reduced. Become.
- the router device 11 even if the router device 11 receives a packet from the terminal device 13 even if the default router switching of the terminal device 13 is not in time, the router device 11 accumulates the packet, and upon receiving the routable message, However, since the packet is transferred to the router 12 as a new master router, the bucket loss can be suppressed low, and efficient operation of network resources can be performed.
- the present invention can use different MAC addresses for each device, it can be used in a wireless network that performs authentication in the MAC layer.
- the present invention is useful for a routing control method in a LAN where two or more routers having a function of connecting to an external network exist, a router and a terminal, and a master router and a backup router. It is suitable for switching between the default and the default router at the terminal device.
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP20040727379 EP1615392B1 (en) | 2003-04-15 | 2004-04-14 | Routing control method, router, and terminal |
US10/541,525 US7764696B2 (en) | 2003-04-15 | 2004-04-14 | Routing control method, router, and terminal |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2003110118 | 2003-04-15 | ||
JP2003-110118 | 2003-04-15 | ||
JP2004-116404 | 2004-04-12 | ||
JP2004116404A JP4385834B2 (ja) | 2003-04-15 | 2004-04-12 | ルーティング制御方法およびルータ装置 |
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WO2004093397A1 true WO2004093397A1 (ja) | 2004-10-28 |
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PCT/JP2004/005292 WO2004093397A1 (ja) | 2003-04-15 | 2004-04-14 | ルーティング制御方法、ルータ装置、及び端末装置 |
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US (1) | US7764696B2 (ja) |
EP (1) | EP1615392B1 (ja) |
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Also Published As
Publication number | Publication date |
---|---|
EP1615392B1 (en) | 2014-09-17 |
EP1615392A4 (en) | 2010-03-31 |
US7764696B2 (en) | 2010-07-27 |
EP1615392A1 (en) | 2006-01-11 |
US20060248369A1 (en) | 2006-11-02 |
JP2004336726A (ja) | 2004-11-25 |
JP4385834B2 (ja) | 2009-12-16 |
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