WO2009089869A1 - Method for transmitting messages in a bus system, bus device and bus system - Google Patents

Method for transmitting messages in a bus system, bus device and bus system Download PDF

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Publication number
WO2009089869A1
WO2009089869A1 PCT/EP2008/010072 EP2008010072W WO2009089869A1 WO 2009089869 A1 WO2009089869 A1 WO 2009089869A1 EP 2008010072 W EP2008010072 W EP 2008010072W WO 2009089869 A1 WO2009089869 A1 WO 2009089869A1
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WIPO (PCT)
Prior art keywords
bus
transmission signals
time
processing
processed
Prior art date
Application number
PCT/EP2008/010072
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German (de)
French (fr)
Inventor
Paul Milbredt
Original Assignee
Audi Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi Ag filed Critical Audi Ag
Priority to ATA9400/2008A priority Critical patent/AT512449B1/en
Publication of WO2009089869A1 publication Critical patent/WO2009089869A1/en

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Classifications

    • 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]
    • H04L12/46—Interconnection of networks
    • H04L12/4604—LAN interconnection over a backbone network, e.g. Internet, Frame Relay
    • H04L12/462—LAN interconnection over a bridge based backbone
    • H04L12/4625—Single bridge functionality, e.g. connection of two networks over a single bridge
    • 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]
    • H04L12/40—Bus networks
    • H04L12/407—Bus networks with decentralised control
    • 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]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40241—Flexray
    • 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]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle

Definitions

  • the invention relates to the field of time-triggered communication systems, namely those in which the time is divided into a plurality of time slots.
  • the individual subscribers of the communication system are assigned very specific ones of these time slots, so that said subscribers can then issue transmission signals in the time slots assigned to them.
  • the time slots are assigned to the individual subscribers in a cyclical sequence.
  • the communication procedure requires that the individual subscribers, also referred to as "nodes", must synchronize themselves.Famous protocols for data transmission in such communication systems are FlexRay, TTP / C and TTCAN.
  • the invention is particularly concerned with the fact that such messages are transmitted, which are emitted by a transmitting device and processed in a processing device before they reach a receiving device.
  • the processing bus device receives the signals from the transmitting device in a first time slot and sends them in the corresponding time slot of the other branch after processing out again.
  • This second time slot must be a time slot associated with the transmitter. It is usually the next time slot in the sequence of time slots associated with the predetermined time slots defined for the transmitter.
  • the communication system Because of the separation of a bus into two branches by editing the communication system must be very complex overall. Because of the transmission of the signals in the respective next time slot belonging to the transmitter, the messages from the transmitter arrive, even with considerable delay, firstly at the receiver, which in the worst case is as large as the cycle time of the time slots.
  • the object is achieved by a method having the features according to claim 1 and a method enabling this bus device having the features according to claim 4.
  • a bus system with the features according to claim 6 is also possible.
  • the processing device thus at least partially (in particular if possible according to predetermined criteria) transmits transmission signals received and processed by it again in the same time slot (with delay, of course) in which it received it.
  • the invention consists in using a buffer time usually defined in the timeslot.
  • the length of a time slot is usually greater than the length of a message (a so-called frame).
  • the transmission of the message is started only after a buffer time has elapsed, and a buffer time remains after the transmission of the frame in the time slot has ended.
  • the buffer times are defined because the individual devices are not perfectly synchronized with each other. Usually, however, the buffer times are very generous. Therefore, it makes sense if the processing device (in advance, ie before receiving the transmission signals) detects how exactly a related clock (timer) with a clock (a timer) of the transmitter is synchronized. In addition, it should (in advance in particular) estimate or calculate how long the processing the transmission signal lasts.
  • the processing device can determine how much of the buffer time is actually required due to the imperfect synchronization of the two clocks (minimum remaining buffer time). Based on the second information, the time delay with which the processing device can send out the processed transmission signals can be estimated. It can thus be estimated how much the buffer time is shortened. Thus it can be deduced whether the minimum remainder buffer time remains from a buffer time in the time slot. For this purpose, a residual buffer time of greater than a certain microsecond number can be specified, but the minimum remaining buffer time can also be equal to 0 microseconds if perfect synchronization has been assumed. If the minimum remaining buffer time remains, then the transmitted transmission signals are transmitted in the same time slot in which they were received.
  • the processing apparatus should disable (cancel) a sync signal contained in the transmit signal, for example, reset (to 0) a sync bit set to (1).
  • the bus device is designed to retransmit processed transmission signals in the same time slot with delay, in which it receives them. It is preferably designed to determine a residual buffer time remaining from a buffer time after receiving and processing until retransmission of the transmission signals, and to retransmit the processed transmission signals in the same time slot with delay as it received the remaining buffer time exceeds a minimum value. Should the residual buffer time be insufficient, then the prior art method may be followed, meaning that the transmit signals will be forwarded in the next time slot allocated to the originating device from which they originate.
  • the invention includes the first-time provision of a bus system, which may be configured in particular as a FlexRay bus system, wherein a plurality of bus devices belongs to the bus system, a transmitting device transmits the transmission signals, which processes a processing device before being sent to a receiving device, unlike the prior art, all bus devices are connected to the same one (FlexRay) bus and therefore can also be synchronized.
  • a bus system which may be configured in particular as a FlexRay bus system, wherein a plurality of bus devices belongs to the bus system, a transmitting device transmits the transmission signals, which processes a processing device before being sent to a receiving device, unlike the prior art, all bus devices are connected to the same one (FlexRay) bus and therefore can also be synchronized.
  • a bus system according to claim 6 is in particular provided when the processing device is a bus device of the type according to the invention.
  • Fig. 1 illustrates a communication system according to the prior art
  • FIG. 2 illustrates a communication system according to the invention, which is designed as a coherent bus system
  • Fig. 3A shows the time course of the transmission of signals in a time slot by a transmitting device
  • FIG. 3B illustrates the time profile of the transmission of signals by a processing apparatus which has received and processed the signals shown in FIG. 3A using the method according to the invention.
  • a transmitter 10 sends in a timed communication system transmission signals in predetermined, namely exactly the transmitter 10 associated, time slots.
  • the processing device 14 typically operates to receive and process the transmit signals in the one time slot and then retransmit them in the next time slot associated with the transmitter 10. This results in a delay in the transmission of the transmission signals, which corresponds to the time interval between two time slots that belong to the same device, ie by the so-called transmission frequency is defined.
  • the prior art approach requires that the communications system be split into two parts by the processing device 14, namely a first FlexRay cluster 16 and a second FlexRay cluster 18.
  • the two FlexRay clusters are each branches of a FlexRay bus.
  • the two FlexRay clusters no longer have a common time base. Rather, the first FlexRay cluster 16 has a first time base and the second FlexRay cluster 18 has a second time base, transmitter 10 on the one hand and residual bus 12 with the receiver on the other hand are no longer synchronized.
  • the method according to the invention now makes it possible to provide a bus system 20 in which the transmitting device 10, processing device 14 and residual bus 12 are connected to the receiving device on a single FlexRay bus, so there is only one more FlexRay cluster, whereby all bus users (bus devices) one common timebase received.
  • FIG. 3A shows the signal curve in a time slot designated as a whole by 22.
  • the time slot 22 is divided into a first section 24, a second section 26 and a third section 28.
  • the sections 24 and 28 are buffers.
  • the actual message or message is sent, ie a so-called frame.
  • a frame has a predetermined length, and this is shorter than a time slot.
  • the duration of a frame is 65 ⁇ s.
  • the buffer 1 (section 24) has a duration of 5 ⁇ s
  • the buffer 2 (section 28) has a duration of 7 ⁇ s.
  • the time slot 22 thus has a duration of 77 ⁇ s with a duration of a frame of 65 ⁇ s.
  • a signal 30 is shown in the frame
  • the processing device 14 now receives more or less the ideal signal shown in FIG. 3A: If the transmitting device 10 transmits the frame 26 in the time slot 22 exactly as shown in FIG. 3A, the processing device 14 also receives the signals accordingly when the Clock of the processing unit 14 is perfectly synchronized with that of the transmitter 10.
  • the processing unit 14 can now determine, in the context of a constant data flow, how well its clock is synchronized with that of the transmitting device.
  • the error in the synchronization causes the Wegrestpuffer- time, which may remain in the time slot 22 after the completion of the transmission of the frame 26.
  • the processing device 14 needs to receive and edit a certain time until the re-broadcasting started can be. This also takes into account the processing device 14.
  • the processing device 14 can detect whether a minimum remainder buffer time has been defined by the buffer 2 (section 28) which has been defined in view of the synchronization error between the clock of the processing device 14 and the clock of the transmitting device 10 Receiving, editing and resending time remaining. If this is the case, the processing device 14 sends, for example, in a time slot 22, the frame 26 'as shown in Fig. 3B, namely with a predetermined delay 32. The duration of the section 28 is shortened by the same delay 32, so that a shorter Section 28 'results. The processing device 14 has determined here that the duration of the section 28 'is sufficiently large to take account of the synchronization error.
  • the invention makes use of the use of the buffers, in particular that there is the buffer 2, ie a buffer which is provided after termination of a frame 26. Because of the presence of this buffer 2, it is possible to send out the frame after processing as frame 26 'with delay 32 (unless the delay 32 is too large).
  • the processing unit 14 may, when the processing unit 14 only processes the signal 30, already started with the retransmission with the delay 32 before the frame 26 has been completely received, including before the signal 30 has been received.
  • the reception time which is assumed when calculating the delay 32, is merely the time required for the pure electronic process of receiving in the processing device 14 and does not include a waiting time from the start of the frame 26 to the signal to be processed 30.

Abstract

It is to be enabled that in a time-controlled communication system, particularly when connecting a plurality of bus devices (10, 12, 14) to one and the same bus, messages emitted by a transmitter (10) can be processed by a processing device (14) before they reach a receiver (12). This is enabled in that the processing device (14) re-emits transmission signals it has received and processed whenever possible in the same time slot in which it received them, specifically with a delay (32).

Description

AUDI AG P7005 AUDI AG P7005
PatentanmeldungPatent application
Verfahren zum Übermitteln von Botschaften in einem Bussystem, Busgerät und BussystemMethod for transmitting messages in a bus system, bus device and bus system
BESCHREIBUNG:DESCRIPTION:
Die Erfindung betrifft das Gebiet von zeitgesteuerten Kommunikationssystemen, und zwar solchen, in denen die Zeit in eine Vielzahl von Zeitschlitzen eingeteilt ist. Den einzelnen Teilnehmern des Kommunikationssystems werden ganz bestimmte dieser Zeitschlitze zugeordnet, so dass besagte Teil- nehmer dann in den ihnen zugeordneten Zeitschlitzen Sendesignale abgeben können. Üblicherweise sind die Zeitschlitze in einer zyklischen Folge den einzelnen Teilnehmern zugeordnet. Das Kommunikationsverfahren bedingt, dass sich die einzelnen Teilnehmer, auch als „Knoten" bezeichnet, synchronisieren müssen. Bekannte Protokolle zur Datenübertragung in solchen Kommunikationssystemen sind FlexRay, TTP/C und TTCAN.The invention relates to the field of time-triggered communication systems, namely those in which the time is divided into a plurality of time slots. The individual subscribers of the communication system are assigned very specific ones of these time slots, so that said subscribers can then issue transmission signals in the time slots assigned to them. Usually, the time slots are assigned to the individual subscribers in a cyclical sequence. The communication procedure requires that the individual subscribers, also referred to as "nodes", must synchronize themselves.Famous protocols for data transmission in such communication systems are FlexRay, TTP / C and TTCAN.
Die Erfindung befasst sich insbesondere damit, dass solche Botschaften übermittelt werden, die von einem Sendegerät ausgesandt werden und in einem Bearbeitungsgerät bearbeitet werden, bevor sie zu einem Empfangs- gerät gelangen.The invention is particularly concerned with the fact that such messages are transmitted, which are emitted by a transmitting device and processed in a processing device before they reach a receiving device.
Will man Signale von einem anderen Busteilnehmer in einem Busteilnehmer bearbeiten, bedingt dies im Stand der Technik eine Auftrennung eines Busses in zwei Zweige. So sind beispielsweise bei Verwendung des FlexRay- Protokolls mindestens zwei Knoten (Busteilnehmer) für die Synchronisation innerhalb eines Zweiges erforderlich. So geht bei Auftrennung des Busses die Synchronisation verloren. Die Busteilnehmer aus einem der Zweige empfangen nämlich nur Signale über den diese Signale bearbeitenden und die Zweige voneinander trennenden Busteilnehmer. Um nicht das Protokoll zu verletzen, muss für jeden Zweig der jeweils restliche Bus simuliert werden, und bei einer solchen Simulation driften die Zeitbasen auseinander. Im Stand der Technik empfängt das bearbeitende Busgerät (das Bearbeitungsgerät) die Signale von dem Sendegerät in einem ersten Zeitschlitz und sendet sie im entsprechenden Zeitschlitz des anderen Zweiges nach der Bearbeitung wieder aus. Dieser zweite Zeitschlitz muss ein zu dem Sendegerät gehöriger Zeitschlitz sein. Üblicherweise handelt es sich um den nächsten Zeitschlitz in der Folge der Zeitschlitze, der zu den vorbestimmten Zeitschlitzen gehört, die zu dem Sendegerät definiert sind.If one wants to process signals from another bus subscriber in a bus subscriber, this necessitates a separation of a bus into two branches in the prior art. For example, when using the FlexRay protocol, at least two nodes (bus users) are required for synchronization within a branch. So is lost when disconnecting the bus synchronization. Namely, the bus subscribers from one of the branches receive only signals via the bus subscribers handling these signals and separating the branches from each other. In order not to violate the protocol, for each branch the remaining bus must be simulated, and in such a simulation the time bases drift apart. In the prior art, the processing bus device (the processing device) receives the signals from the transmitting device in a first time slot and sends them in the corresponding time slot of the other branch after processing out again. This second time slot must be a time slot associated with the transmitter. It is usually the next time slot in the sequence of time slots associated with the predetermined time slots defined for the transmitter.
Wegen der Auftrennung eines Busses in zwei Zweige durch das Bearbeiten muss das Kommunikationssystem insgesamt sehr aufwendig sein. Wegen des Aussendens der Signale in dem jeweils nächsten zu dem Sendegerät gehörigen Zeitschlitz gelangen die Botschaften von dem Sendegerät auch mit erheblicher Verzögerung erst zu dem Empfangsgerät, die im schlimmsten Fall so groß ist wie die Zykluszeit der Zeitschlitze.Because of the separation of a bus into two branches by editing the communication system must be very complex overall. Because of the transmission of the signals in the respective next time slot belonging to the transmitter, the messages from the transmitter arrive, even with considerable delay, firstly at the receiver, which in the worst case is as large as the cycle time of the time slots.
Es ist Aufgabe der Erfindung, diese Nachteile des Standes der Technik zu beseitigen.It is an object of the invention to eliminate these disadvantages of the prior art.
Die Aufgabe wird durch ein Verfahren mit den Merkmalen gemäß Patentanspruch 1 und ein dieses Verfahren ermöglichendes Busgerät mit den Merkmalen gemäß Patentanspruch 4 gelöst. Durch das erfindungsgemäße Verfahren bzw. bei Einsatz des erfindungsgemäßen Busgeräts ist auch ein Bus- System mit den Merkmalen gemäß Patentanspruch 6 ermöglicht.The object is achieved by a method having the features according to claim 1 and a method enabling this bus device having the features according to claim 4. By the method according to the invention or when using the bus device according to the invention, a bus system with the features according to claim 6 is also possible.
Bei dem erfindungsgemäßen Verfahren sendet das Bearbeitungsgerät somit von ihm empfangene und bearbeitete Sendesignale zumindest teilweise (nämlich insbesondere wenn nach vorbestimmten Kriterien möglich) in dem- selben Zeitschlitz (natürlich mit Verzögerung) wieder aus, in dem es sie empfangen hat.In the method according to the invention, the processing device thus at least partially (in particular if possible according to predetermined criteria) transmits transmission signals received and processed by it again in the same time slot (with delay, of course) in which it received it.
Die Erfindung besteht in einer Nutzung einer in dem Zeitschlitz üblicherweise definierten Pufferzeit. Die Länge eines Zeitschlitzes ist nämlich üblicherweise größer als die Länge einer Botschaft (eines sogenannten Frames). Es wird mit dem Senden der Botschaft erst nach Verstreichen einer Pufferzeit begonnen, und es verbleibt eine Pufferzeit nach Beendigung des Sendens des Frames in dem Zeitschlitz. Die Pufferzeiten sind deswegen definiert, weil die einzelnen Geräte nicht perfekt miteinander synchronisiert sind. Üblicherweise sind die Pufferzeiten jedoch sehr großzügig ausgelegt. Daher ist es sinnvoll, wenn das Bearbeitungsgerät (vorab, also vor dem Empfangen der Sendesignale) erfasst, wie genau eine zu ihm zugehörige Uhr (Zeitgeber) mit einer Uhr (einem Zeitgeber) des Sendegeräts synchronisiert ist. Zudem sollte es (insbesondere vorab) abschätzen oder berechnen, wie lange das Bearbeiten der Sendesignale dauert. Aufgrund der ersten Information kann das Bearbeitungsgerät ermitteln, wieviel von der Pufferzeit tatsächlich aufgrund der nicht perfekten Synchronisation der beiden Uhren erforderlich ist (Mindestrestpuf- ferzeit). Aufgrund der zweiten Information kann die Zeitverzögerung abge- schätzt werden, mit der das Bearbeitungsgerät die bearbeiteten Sendesignale wieder aussenden kann. Damit kann abgeschätzt werden, um wieviel sich die Pufferzeit verkürzt. Somit kann abgeleitet werden, ob von einer Pufferzeit in dem Zeitschlitz die Mindestrestpufferzeit verbleibt. Es kann hierzu eine Restpufferzeit von größer als einer bestimmten Mikrosekundenanzahl festge- legt werden, die Mindestrestpufferzeit kann jedoch auch gleich 0 Mikrose- kunden sein, wenn von perfekter Synchronisation ausgegangen ist. Verbleibt die Mindestrestpufferzeit, dann erfolgt das Aussenden der bearbeiteten Sendesignale in demselben Zeitschlitz, in dem sie empfangen wurden.The invention consists in using a buffer time usually defined in the timeslot. The length of a time slot is usually greater than the length of a message (a so-called frame). The transmission of the message is started only after a buffer time has elapsed, and a buffer time remains after the transmission of the frame in the time slot has ended. The buffer times are defined because the individual devices are not perfectly synchronized with each other. Usually, however, the buffer times are very generous. Therefore, it makes sense if the processing device (in advance, ie before receiving the transmission signals) detects how exactly a related clock (timer) with a clock (a timer) of the transmitter is synchronized. In addition, it should (in advance in particular) estimate or calculate how long the processing the transmission signal lasts. Based on the first information, the processing device can determine how much of the buffer time is actually required due to the imperfect synchronization of the two clocks (minimum remaining buffer time). Based on the second information, the time delay with which the processing device can send out the processed transmission signals can be estimated. It can thus be estimated how much the buffer time is shortened. Thus it can be deduced whether the minimum remainder buffer time remains from a buffer time in the time slot. For this purpose, a residual buffer time of greater than a certain microsecond number can be specified, but the minimum remaining buffer time can also be equal to 0 microseconds if perfect synchronization has been assumed. If the minimum remaining buffer time remains, then the transmitted transmission signals are transmitted in the same time slot in which they were received.
Durch die Zeitverzögerung des Aussendens der bearbeiteten Sendesignale durch das Bearbeitungsgerät könnte es zu Fehlern in der Synchronisation kommen. Dies wäre insbesondere dann der Fall, wenn die Sendesignale ein Synchronisierungssignal umfassen, das mit Zeitverzögerung ungeändert weitergesandt wird. Daher sollte das Bearbeitungsgerät ein in den Sendesigna- len enthaltenes Synchronisierungssignal unwirksam machen (aufheben), zum Beispiel ein (auf 1) gesetztes Synchronisierungsbit wieder zurücksetzen (auf 0).Due to the time delay of sending the processed transmission signals through the processing unit, errors in the synchronization could occur. This would be the case in particular if the transmission signals comprise a synchronization signal which is transmitted unchanged with time delay. Therefore, the processing apparatus should disable (cancel) a sync signal contained in the transmit signal, for example, reset (to 0) a sync bit set to (1).
Das erfindungsgemäße Busgerät ist dazu ausgelegt, bearbeitete Sendesig- nale in demselben Zeitschlitz mit Verzögerung wieder auszusenden, in dem es sie empfängt. Es ist bevorzugt dazu ausgelegt, eine von einer Pufferzeit nach einem Empfangen und Bearbeiten bis zum Wiederaussenden der Sendesignale verbleibende Restpufferzeit zu ermitteln und die bearbeiteten Sendesignale nur dann in demselben Zeitschlitz mit Verzögerung wieder auszu- senden, in dem es sie empfangen hat, wenn die Restpufferzeit einen Mindestwert überschreitet. Sollte die Restpufferzeit nicht ausreichend groß sein, kann an das Verfahren gemäß dem Stand der Technik angeknüpft werden, was bedeutet, dass die Sendesignale in dem nächsten dem Sendegerät, von dem sie stammen, zugeordneten Zeitschlitz, weitergesandt werden.The bus device according to the invention is designed to retransmit processed transmission signals in the same time slot with delay, in which it receives them. It is preferably designed to determine a residual buffer time remaining from a buffer time after receiving and processing until retransmission of the transmission signals, and to retransmit the processed transmission signals in the same time slot with delay as it received the remaining buffer time exceeds a minimum value. Should the residual buffer time be insufficient, then the prior art method may be followed, meaning that the transmit signals will be forwarded in the next time slot allocated to the originating device from which they originate.
Zur Erfindung gehört das erstmalige Bereitstellen eines Bussystems, das insbesondere als FlexRay-Bussystem ausgestaltet sein kann, wobei eine Mehrzahl von Busgeräten zu dem Bussystem gehört, ein Sendegerät das Sendesignale aussendet, welche von einem Bearbeitungsgerät bearbeitet werden, bevor sie zu einem Empfangsgerät gesandt werden, wobei anders als im Stand der Technik alle Busgeräte an demselben einen (FlexRay-)Bus angeschlossen sind und daher auch synchronisierbar sind.The invention includes the first-time provision of a bus system, which may be configured in particular as a FlexRay bus system, wherein a plurality of bus devices belongs to the bus system, a transmitting device transmits the transmission signals, which processes a processing device before being sent to a receiving device, unlike the prior art, all bus devices are connected to the same one (FlexRay) bus and therefore can also be synchronized.
Es entfällt somit der durch die Aufteilung des Busses in zwei Zweige im Stand der Technik notwendige Aufwand. Durch die Synchronisierbarkeit aller Busgeräte ist ein gutes Funktionieren der Kommunikation in dem Bussystem, insbesondere ohne Zeitverzögerung gewährleistet.It thus eliminates the effort required by the division of the bus into two branches in the prior art. Due to the synchronizability of all bus devices a good functioning of the communication in the bus system, in particular without time delay is guaranteed.
Ein Bussystem nach Patentanspruch 6 ist insbesondere bereitstellbar, wenn das Bearbeitungsgerät ein Busgerät der erfindungsgemäßen Art ist.A bus system according to claim 6 is in particular provided when the processing device is a bus device of the type according to the invention.
Nachfolgend wird eine bevorzugte Ausführungsform der Erfindung unter Bezug auf die Zeichnungen beschrieben, wobeiHereinafter, a preferred embodiment of the invention will be described with reference to the drawings, wherein
Fig. 1 ein Kommunikationssystem gemäß dem Stand der Technik veranschaulicht,Fig. 1 illustrates a communication system according to the prior art,
Fig. 2 ein erfindungsgemäßes Kommunikationssystem veranschaulicht, das als zusammenhängendes Bussystem ausgelegt ist,2 illustrates a communication system according to the invention, which is designed as a coherent bus system,
Fig. 3A den zeitlichen Verlauf des Aussendens von Signalen in einem Zeitschlitz durch ein Sendegerät undFig. 3A shows the time course of the transmission of signals in a time slot by a transmitting device and
Fig.3B den zeitlichen Verlauf des Aussendens von Signalen durch ein Bearbeitungsgerät, das die in Fig. 3A dargestellten Signale empfangen und bearbeitet hat, bei Verwendung des erfindungsgemäßen Verfahrens veranschaulicht.FIG. 3B illustrates the time profile of the transmission of signals by a processing apparatus which has received and processed the signals shown in FIG. 3A using the method according to the invention.
Ein Sendegerät 10 sendet in einem zeitgesteuerten Kommunikationssystem Sendesignale in vorbestimmten, nämlich genau dem Sendegerät 10 zugeordneten, Zeitschlitzen aus. Bevor die Sendesignale zu einem Restbus 12, insbesondere zu einem Empfangsgerät, gelangen, sollen sie durch ein Bearbeitungsgerät 14 bearbeitet werden. Das Bearbeitungsgerät 14 arbeitet QbIi- cherweise so, dass es die Sendesignale in dem einen Zeitschlitz empfängt und bearbeitet und dann in dem nächsten dem Sendegerät 10 zugeordneten Zeitschlitz weitersendet. Dadurch kommt es zu einer Verzögerung bei der Übermittlung der Sendesignale, die dem zeitlichen Abstand zwischen zwei Zeitschlitzen, die zum selben Gerät gehören, entspricht, also durch die so- genannte Sendehäufigkeit definiert ist. Die Vorgehensweise im Stand der Technik bedingt, dass das Kommunikationssystem durch das Bearbeitungsgerät 14 in zwei Teile geteilt ist, nämlich in ein erstes FlexRay-Cluster 16 und ein zweites FlexRay-Cluster 18. Die beiden FlexRay-Cluster sind jeweils Zweige eines FlexRay-Busses. Die beiden FlexRay-Cluster haben keine gemeinsame Zeitbasis mehr. Vielmehr hat das erste FlexRay-Cluster 16 eine erste Zeitbasis und das zweite FlexRay-Cluster 18 eine zweite Zeitbasis, Sendegerät 10 einerseits und Restbus 12 mit dem Empfangsgerät andererseits sind nicht mehr synchronisiert.A transmitter 10 sends in a timed communication system transmission signals in predetermined, namely exactly the transmitter 10 associated, time slots. Before the transmission signals arrive at a residual bus 12, in particular at a receiving device, they are to be processed by a processing device 14. The processing device 14 typically operates to receive and process the transmit signals in the one time slot and then retransmit them in the next time slot associated with the transmitter 10. This results in a delay in the transmission of the transmission signals, which corresponds to the time interval between two time slots that belong to the same device, ie by the so-called transmission frequency is defined. The prior art approach requires that the communications system be split into two parts by the processing device 14, namely a first FlexRay cluster 16 and a second FlexRay cluster 18. The two FlexRay clusters are each branches of a FlexRay bus. The two FlexRay clusters no longer have a common time base. Rather, the first FlexRay cluster 16 has a first time base and the second FlexRay cluster 18 has a second time base, transmitter 10 on the one hand and residual bus 12 with the receiver on the other hand are no longer synchronized.
Das erfindungsgemäße Verfahren ermöglicht nun das Bereitstellen eines Bussystems 20, bei dem Sendegerät 10, Bearbeitungsgerät 14 und Restbus 12 mit dem Empfangsgerät an einem einzigen FlexRay-Bus angeschlossen sind, es gibt also nur noch ein FlexRay-Cluster, wodurch alle Busteilnehmer (Busgeräte) eine gemeinsame Zeitbasis erhalten.The method according to the invention now makes it possible to provide a bus system 20 in which the transmitting device 10, processing device 14 and residual bus 12 are connected to the receiving device on a single FlexRay bus, so there is only one more FlexRay cluster, whereby all bus users (bus devices) one common timebase received.
Das erfindungsgemäße Verfahren, welches von dem Bearbeitungsgerät 14 angewandt wird, wird nun anhand eines zeitlichen Signalverlaufs erläutert. Fig. 3A zeigt den Signalverlauf in einem im Ganzen mit 22 bezeichneten Zeitschlitz. Der Zeitschlitz 22 ist in einen ersten Abschnitt 24, einen zweiten Abschnitt 26 und einen dritten Abschnitt 28 unterteilt. Die Abschnitte 24 und 28 sind Puffer. Im Abschnitt 26 wird die eigentliche Nachricht bzw. Botschaft gesendet, also ein sogenannter Frame. Ein Frame hat eine vorbestimmte Länge, und diese ist kürzer als ein Zeitschlitz. Beispielsweise ist die Dauer eines Frames 65 μs . Der Puffer 1 (Abschnitt 24) hat eine Dauer von 5 μs , und der Puffer 2 (Abschnitt 28) hat eine Dauer von 7 μs . Insgesamt hat der Zeitschlitz 22 also eine Dauer von 77 μs bei einer Dauer eines Frames von 65 μs . Beispielhaft ist in Fig. 3A ein Signal 30 dargestellt, das in dem FrameThe method according to the invention, which is used by the processing device 14, will now be explained with reference to a time waveform. FIG. 3A shows the signal curve in a time slot designated as a whole by 22. The time slot 22 is divided into a first section 24, a second section 26 and a third section 28. The sections 24 and 28 are buffers. In section 26, the actual message or message is sent, ie a so-called frame. A frame has a predetermined length, and this is shorter than a time slot. For example, the duration of a frame is 65 μs. The buffer 1 (section 24) has a duration of 5 μs, and the buffer 2 (section 28) has a duration of 7 μs. Overall, the time slot 22 thus has a duration of 77 μs with a duration of a frame of 65 μs. By way of example, in FIG. 3A, a signal 30 is shown in the frame
26 übermittelt wird. Das Bearbeitungsgerät 14 empfängt nun mehr oder we- niger das in Fig. 3A gezeigte ideale Signal: Sendet das Sendegerät 10 den Frame 26 in dem Zeitschlitz 22 genauso aus wie in Fig. 3A dargestellt, empfängt das Bearbeitungsgerät 14 die Signale auch entsprechend, wenn die Uhr des Bearbeitungsgeräts 14 perfekt mit der des Sendegeräts 10 synchronisiert ist. Das Bearbeitungsgerät 14 kann nun im Rahmen eines ständigen Datenflusses ermitteln, wie gut seine Uhr mit der des Sendegeräts synchronisiert ist. Der Fehler in der Synchronisation bedingt die Mindestrestpuffer- zeit, die in dem Zeitschlitz 22 nach Beendigung des Aussendens des Frames 26 noch verbleiben darf. Das Bearbeitungsgerät 14 braucht zum Empfangen und Bearbeiten eine bestimmte Zeit, bis das Wiederaussenden begonnen werden kann. Auch diese berücksichtigt das Bearbeitungsgerät 14. Das Bearbeitungsgerät 14 kann erfassen, ob eine Mindestrestpufferzeit von dem Puffer 2 (Abschnitt 28), die in Anbetracht des Synchronisationsfehlers zwischen der Uhr des Bearbeitungsgeräts 14 und der Uhr des Sendegeräts 10 definiert wurde, in Anbetracht der durch das Empfangen, Bearbeiten und Wiederaussenden erforderlichen Zeit verbleibt. Ist dies der Fall, sendet das Bearbeitungsgerät 14 beispielsweise in einem Zeitschlitz 22 den Frame 26' wie in Fig. 3B dargestellt aus, nämlich mit einer vorbestimmten Verzögerung 32. Die Dauer des Abschnitts 28 wird um dieselbe Verzögerung 32 verkürzt, so dass sich ein kürzerer Abschnitt 28' ergibt. Das Bearbeitungsgerät 14 hat hier ermittelt, dass die Dauer des Abschnitts 28' ausreichend groß ist, um dem Synchronisationsfehler Rechnung zu tragen.26 is transmitted. The processing device 14 now receives more or less the ideal signal shown in FIG. 3A: If the transmitting device 10 transmits the frame 26 in the time slot 22 exactly as shown in FIG. 3A, the processing device 14 also receives the signals accordingly when the Clock of the processing unit 14 is perfectly synchronized with that of the transmitter 10. The processing unit 14 can now determine, in the context of a constant data flow, how well its clock is synchronized with that of the transmitting device. The error in the synchronization causes the Mindestrestpuffer- time, which may remain in the time slot 22 after the completion of the transmission of the frame 26. The processing device 14 needs to receive and edit a certain time until the re-broadcasting started can be. This also takes into account the processing device 14. The processing device 14 can detect whether a minimum remainder buffer time has been defined by the buffer 2 (section 28) which has been defined in view of the synchronization error between the clock of the processing device 14 and the clock of the transmitting device 10 Receiving, editing and resending time remaining. If this is the case, the processing device 14 sends, for example, in a time slot 22, the frame 26 'as shown in Fig. 3B, namely with a predetermined delay 32. The duration of the section 28 is shortened by the same delay 32, so that a shorter Section 28 'results. The processing device 14 has determined here that the duration of the section 28 'is sufficiently large to take account of the synchronization error.
Die Erfindung macht Gebrauch von der Verwendung der Puffer, insbesonde- re davon, dass es den Puffer 2 gibt, also einen Puffer, der nach Beendigung eines Frames 26 bereitgestellt ist. Wegen des Vorhandenseins dieses Puffers 2 ist es möglich, den Frame nach seiner Bearbeitung als Frame 26' mit Verzögerung 32 auszusenden (sofern die Verzögerung 32 nicht zu groß ist).The invention makes use of the use of the buffers, in particular that there is the buffer 2, ie a buffer which is provided after termination of a frame 26. Because of the presence of this buffer 2, it is possible to send out the frame after processing as frame 26 'with delay 32 (unless the delay 32 is too large).
Es kann, wenn das Bearbeitungsgerät 14 lediglich das Signal 30 bearbeitet, bereits mit dem Wiederaussenden mit der Verzögerung 32 begonnen werden, bevor der Frame 26 vollständig empfangen wurde, also auch, bevor das Signal 30 empfangen wurde. Die Empfangszeit, die bei Berechnung der Verzögerung 32 angesetzt wird, ist lediglich die für den reinen elektronischen Vorgang des Empfangens im Bearbeitungsgerät 14 notwendige Zeit und enthält nicht eine Wartezeit vom Beginn des Frames 26 bis zum zu bearbeitenden Signal 30. It may, when the processing unit 14 only processes the signal 30, already started with the retransmission with the delay 32 before the frame 26 has been completely received, including before the signal 30 has been received. The reception time, which is assumed when calculating the delay 32, is merely the time required for the pure electronic process of receiving in the processing device 14 and does not include a waiting time from the start of the frame 26 to the signal to be processed 30.

Claims

PATENTANSPRÜCHE
1. Verfahren zum Übermitteln von Botschaften von einem Sendegerät (10) über ein Bearbeitungsgerät (14), in dem die Botschaften bearbeitet werden, zu einem Empfangsgerät (12), wobei in einem Kommunikationssystem eine Folge von Zeitschlitzen (22) definiert ist und Sendesignale (26, 26') von dem Sendegerät (10) in vorbestimmten Zeitschlitzen (22) aus dieser Folge übermittelt werden, dadurch gekennzeichnet, dass das Bearbeitungsgerät (14) von ihm empfangene und bearbeitete Sendesignale zumindest teilweise in demselben1. A method for transmitting messages from a transmitting device (10) via a processing device (14), in which the messages are processed, to a receiving device (12), wherein in a communication system a sequence of time slots (22) is defined and transmission signals ( 26, 26 ') from the transmitter (10) in predetermined time slots (22) are transmitted from this sequence, characterized in that the processing device (14) received and processed by him transmitting signals at least partially in the same
Zeitschlitz (22) wieder aussendet, in dem es sie empfangen hat.Timeslot (22) again, in which it has received them.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Bearbeitungsgerät (14) erfasst, wie genau eine zu ihm gehörige Uhr mit ei- ner Uhr des Sendegeräts (10) synchronisiert ist, und dass es abschätzt oder berechnet, wie lange das Empfangen und Bearbeiten bis zum Wiederaussenden der Sendesignale dauert, und dass es aus diesen beiden Informationen ableitet, ob von einer Pufferzeit (28) in dem Zeitschlitz (22) eine Mindestrestpufferzeit (28') verbleibt und in diesem Fall die von ihm bearbeiteten Sendesignale in demselben Zeitschlitz wieder aussendet, in dem es sie empfangen hat.2. The method according to claim 1, characterized in that the processing device (14) detects exactly how a belonging to him clock with a clock of the transmitter (10) is synchronized, and that it estimates or calculates how long the receiving and Processing lasts until the transmission of the transmission signals, and that it derives from these two pieces of information whether a minimum buffer time (28 ') remains in the time slot (22) of a buffer time (28) and in this case the transmission signals processed by it in the same time slot again sends out, in which it received it.
3. Verfahren nach Anspruch 1 oder 2, bei dem das Bearbeitungsgerät (14) ein in den Sendesignalen enthaltenes Synchronisierungssignal unter- drückt.3. The method of claim 1 or 2, wherein the processing device (14) suppresses a synchronization signal contained in the transmission signals.
4. Busgerät (14) das zum Empfangen und Bearbeiten von Sendesignalen von einem weiteren Busgerät (10) bei Anschluss beider Busgeräte (10, 14) an einen Bus ausgelegt ist, in dem eine Folge von Zeitschlitzen de- finiert ist und die Sendesignale von dem anderen Busgerät (10) in vorbestimmten Zeitschlitzen übermittelt werden, dadurch gekennzeichnet, dass das Busgerät (14) dazu ausgelegt ist, bearbeitete Sendesignale in demselben Zeitschlitz (22) mit Verzögerung (32) wieder auszusenden, in dem es sie empfängt.4. Bus device (14) which is designed for receiving and processing transmission signals from a further bus device (10) when both bus devices (10, 14) are connected to a bus in which a sequence of time slots is defined and the transmission signals from the other bus device (10) are transmitted in predetermined time slots, characterized in that the bus device (14) is adapted to send out processed transmission signals in the same time slot (22) with delay (32) in which it receives them.
5. Busgerät (14) nach Anspruch 4, dadurch gekennzeichnet, dass es dazu ausgelegt ist, eine von einer Pufferzeit nach dem Empfangen und Bearbeiten und Wiederaussenden von Sendesignalen verbleibende Restpufferzeit (28') zu ermitteln und die bearbeiteten Sendesignale nur dann in demselben Zeitschlitz (22) mit Verzögerung wieder auszusenden, in dem es sie empfangen hat, wenn die Restpufferzeit (28') einen Mindestwert überschreitet.5. bus device (14) according to claim 4, characterized in that it is designed to determine a remaining of a buffer time after receiving and processing and retransmission of transmission signals remaining buffer time (28 ') and the processed transmission signals only in the same time slot (22) with delay, in which it has received it, if the residual buffer time (28 ') exceeds a minimum value.
6. Bussystem (20), insbesondere FlexRay-Bussystem mit einer Mehrzahl von Busgeräten (10, 12, 14), wobei ein Bearbeitungsgerät (14) der Busgeräte zum Bearbeiten von von einem Sendegerät (10) der Busgeräte ausgesandten Sendesignale ausgelegt ist, bevor die bearbeiteten Sendesignale zu einem Empfangsgerät (12) der Busgeräte weitergelei- tet werden, dadurch gekennzeichnet, dass alle Busgeräte (10, 12, 14) an demselben einen Bus angeschlossen und synchronisierbar sind.6. Bus system (20), in particular FlexRay bus system with a plurality of bus devices (10, 12, 14), wherein a processing device (14) of the bus devices for processing by a transmitting device (10) of the bus devices emitted transmission signals is designed before the processed transmission signals to a receiving device (12) of the bus devices are weitergelei- tet, characterized in that all the bus devices (10, 12, 14) connected to the same bus and synchronized.
7. Bussystem (20) nach Anspruch 6, dadurch gekennzeichnet, dass das Bearbeitungsgerät (14) ein Busgerät nach Anspruch 4 oder 5 ist. 7. bus system (20) according to claim 6, characterized in that the processing device (14) is a bus device according to claim 4 or 5.
PCT/EP2008/010072 2008-01-17 2008-11-27 Method for transmitting messages in a bus system, bus device and bus system WO2009089869A1 (en)

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