WO2022117167A1 - Verfahren zum schnellen flashen von sensorknoten über ein ethernetnetzwerk - Google Patents
Verfahren zum schnellen flashen von sensorknoten über ein ethernetnetzwerk Download PDFInfo
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- WO2022117167A1 WO2022117167A1 PCT/DE2021/200227 DE2021200227W WO2022117167A1 WO 2022117167 A1 WO2022117167 A1 WO 2022117167A1 DE 2021200227 W DE2021200227 W DE 2021200227W WO 2022117167 A1 WO2022117167 A1 WO 2022117167A1
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- Prior art keywords
- nodes
- control unit
- ethernet network
- data rate
- bus
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000004891 communication Methods 0.000 claims abstract description 21
- 230000004044 response Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims 2
- 238000005457 optimization Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001522296 Erithacus rubecula Species 0.000 description 1
- 101100172132 Mus musculus Eif3a gene Proteins 0.000 description 1
- 108700009949 PTP protocol Proteins 0.000 description 1
- 201000007902 Primary cutaneous amyloidosis Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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]
- H04L12/40—Bus networks
- H04L12/40143—Bus networks involving priority mechanisms
- H04L12/40156—Bus networks involving priority mechanisms by using dedicated slots associated with a priority level
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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]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40019—Details regarding a bus master
-
- 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
- H04L2012/4026—Bus for use in automation systems
-
- 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
- Ethernet and radio technologies are only just finding their way into automobiles and, thanks to their open and standardized protocols, offer the possibility of attacking the car from the outside for the first time.
- a variant of the new standard is the CSMA/CD-based MultiDrop mode. This differs significantly from the other Ethernet variants (>10 Mbit/s), since the aim of this is to be able to design Ethernet more cost-effectively and thus also to address simpler control devices.
- This standard does not require switches (switch ICs) but is designed as a bus (similar to CAN). This halves the number of required PHYs (transceivers). This means that Ethernet is becoming a serious competitor to CAN/CAN-FD and FlexRay, as it significantly reduces system costs.
- typical automotive interfaces such as SPI instead of xMII for communication between controllers and physical transceivers (PHYs) are also possible.
- Fig. 1 compares the essential features of Switched Ethernet and "Bus Ethernet” (MultiDrop) as defined in the IEEE standard IEEE P802.3cg. The most important difference is that the resources, the bus access, are exclusively available with Switched Ethernet, which means that each Ethernet node (ECU) can send at any time without collisions appear. With the new Ethernet bus conversion with multi-drop mode, a shared medium is used, ie the bus access has to wait until this resource is available.
- the IEEE P802.3cg standard uses, among other things, a newly defined mechanism (PLCA - Physical Layer Collision Avoidance) to avoid collisions during bus access and to implement fair access. Only one PHY (Physical Transceiver) has access to the bus at any one time. This prevents collisions. Access is based on a so-called round robin procedure. Each ECU (node) on the BUS has the opportunity to send once within a defined cycle (or sequence).
- PLCA Physical Layer Collision Avoidance
- a so-called headnode which takes on the function of a network controller, determines the cycle and sends recurring "beacons" on the bus. Depending on their previously defined identity ID, which determines the sequence when they are allowed to send, the nodes start a timer and after this and the recognition that it is your turn, you are allowed to send.
- Figure 3 shows the physical representation of the Ethernet bus with stubs.
- EP 2 585 940 A1 describes a systems and methods for scheduling network communications in a managed network may include a network controller recognizing multiple network nodes; the network controller classifies the detected network nodes into two or more classifications of nodes for prioritizing network communication at the node level; the network controller receiving reservation requests from at least a portion of the plurality of network nodes, wherein the requesting reservation requests for one or more time slots for their respective network nodes in an upcoming communication window; and the network controller allocates time slots in the forthcoming communication window to one or more network nodes in response to reservation requests, the allocation being based on a priority of the network nodes and the priority being assigned to the nodes according to their classification.
- This patent application describes how a network controller creates a cyclic media access plan (MAP) in which the accesses of the network nodes are defined in each cycle.
- the basis is the required quality of service, the reservation requests from the respective nodes and their priority/lower priority, from which the network controller creates the MAP.
- the network controller can also automatically send MAP messages without reservation requests.
- a coordinating device performs bandwidth allocation procedures based on information from previously unsatisfied bandwidth allocation requests and responds to current bandwidth allocation requests.
- the current bandwidth allocation requests specify the current requested bandwidth amounts for multiple streams, and the current bandwidth allocation requests can be received from multiple entities with multiple streams.
- the information from previously unsatisfied bandwidth allocation requests is taken into account when allocating the available bandwidth between multiple streams or multiple entities for the currently requested bandwidth amounts.
- the headnode also takes into account the 'unserved' access reservation from the previous cycle.
- the bus In contrast to a switched network (as with 100/1000... Mbit/s), with 10Mbit/s, as described, the bus cannot be accessed immediately, but the respective point in time must be awaited. Compared to other Ethernet types, the 10Mbit bus offers a significantly lower data rate, which is why here special attention must be paid to the efficiency of the data transmission and the latency of the transmission (or also the access time). If security also becomes part of the 10Mbit/s system, then there is hardly any data rate left for user data (similar to the current CAN FD implementations).
- Flashing i.e. updating software, new functions, eliminating errors, of control units is not really a new topic for the automotive industry, but will become even more important in the coming years due to the new 5G mobile communications standard. Flashing does not pose any problems via Ethernet (100 Mbit/s, 1000 Mbit/s ... ), since there is sufficient bandwidth on the one hand and exclusive access on the other (point-to-point full-duplex connections).
- the problem today is that the standard only allows one frame to be sent per cycle, so the remaining data rate for the respective node (in this case the master node or head node) decreases as the number of participants on the bus increases.
- the headnode will either be implemented in a head unit, a gateway, a fusion unit or generally in a zone controller, i.e. usually on the control unit from which updates or diagnostic queries also originate. It is known to use a so-called burst mode in which nodes max.
- the object of the invention is to enable an optimization of the flash time, especially the time of the download, software or a diagnostic query from sensors or other control devices.
- the invention advantageously adapts the new Ethernet technologies in terms of costs and implementation effort for use in automobiles.
- the invention proposes a method that adapts the bus cycle to the data rate requirements of the headnode. This means that more bandwidth can be dynamically allocated to the headnode as needed.
- the invention proposes a method that, depending on the size of the data to be transmitted, adapts the bus cycle in such a way that the download/update requirements for the transmission time are not violated.
- the method calculates how much bandwidth has to be provided at what time. However, the method always takes the standard into account and does not have to intervene on the other nodes.
- beacon cycle time only depends on the bus and its configuration, but not on the individual nodes or their requirements.
- the fundamental revolution of the new architectures is characterized by the centering of the software on fewer and fewer computing units.
- These so-called servers or central computers no longer consist of just one pc or pP, but contain several pC, pP, SOC and also Ethernet switches with a large number of ports - they represent their own local network, each with individual software (the also means that the respective software components do not (cannot) know that they are communicating, for example, with components that are located in the same housing).
- Zone architectures with central servers are known. Here it applies that on the one hand the server contains many powerful processors and on the other hand a lot of software resp. Applications run on it. The communication effort within the control unit is enormous (this represents a separate local network). All of the vehicle's software will be executed here in the future and each controller has its own software stack which is made available by various providers.
- the flash time and thus, for example, the download of the software from control devices can be significantly optimized and shortened by the invention.
- the idea can be implemented without additional financial expenditure, such as hardware costs, and while maintaining the standard.
- With the use of the newly introduced Ethernet protocols in automobiles mechanisms are necessary that make use of simple techniques and given properties of technologies in order to be able to do without expensive implementations and other additional hardware.
- the network system according to the invention is improved in terms of reliability.
- the advantage of the application-specific determination of a more accurate and predictable delay results in an improvement in the planning and execution of communication in the vehicle.
- the logging of data can be made even more precise.
- the invention offers the advantage that software can be flashed about 8 times faster than is possible with the prior art in the 10 Mbit/s Ethernet bus system. As a result, memory can be dimensioned smaller or memory can be freed up for other applications. If it is a software update, the invention allows a more realistic time window to be reported and the worst case does not have to be assumed. This allows downloads/updates that would otherwise never be started or would be started later.
- Protocols like IP, AVB, and TSN have thousands of pages of specifications and test suites. The controllability of these new protocols in the automobile is not directly given.
- An advantage of this invention is that the current hardware does not have to be changed, but the existing hardware can continue to be used.
- the new method can be integrated into an existing network without damaging existing devices. A standard to be complied with is not violated since the existing protocol can be used.
- the method according to the invention can be used in other industrial areas that use 10 Mbit/s Ethernet, such as, for example, in industrial automation.
- the object is advantageously achieved by a method for quickly flashing sensor nodes via an Ethernet network with a headnode and a number of associated nodes, the method comprising: a) determining the number of active nodes by a headnode, b) classifying the detected nodes into two or more classifications of nodes to prioritize Ethernet network communications by the headnode; c) the headnode receiving reservation requests from at least a portion of the plurality of nodes, d) Allocation of time slots in response to reservation requests to one or more nodes in the forthcoming communication window, where the allocations are based on a priority of the nodes and the priority is assigned to the nodes according to their classification and that after determining the number of active nodes, a determination a necessary download data rate and a determination of a current bus utilization takes place, the bus utilization being determined by calculating the time difference between a last beacon and the number of nodes, and the bus cycle of the Ethernet network being optimized with regard to the necessary download data rate.
- the bus utilization is continuously monitored.
- a further advantageous embodiment of the method is characterized in that after the necessary download data rate has been determined, a currently free data rate in the Ethernet network is determined in the last bus cycle (Dfree) of the Ethernet network, a necessary data rate per bus cycle (D Z us ) takes place, whereby if the free data rate in the Ethernet network in the last bus cycle (Dfree) of the Ethernet network is greater than or equal to the necessary data rate per bus cycle (D Z us), no change is made in the next bus cycle, and if the free data rate in the Ethernet network in last bus cycle (Dok) of the Ethernet network is less than the necessary data rate per bus cycle, a change is made in the next bus cycle.
- a control unit for an Ethernet network which as a first node is designed as a control unit, is particularly advantageous for sending a signal to a second control unit of the Ethernet vehicle electrical system and receiving the signal from the second control unit; determine a propagation time of the signal on a connection path to the second control unit; determine a maximum speed of the connection path based on the propagation time; and a type of transmission medium of the connection path based on the To determine maximum speed, at least includes a microprocessor, a volatile memory and non-volatile memory, at least two communication interfaces, a synchronizable timer, the non-volatile memory contains program instructions that, when executed by the microprocessor, at least one embodiment of the method according to the invention can be implemented and executed .
- an Ethernet network for a motor vehicle is particularly advantageous, with a first control unit and a second control unit, the control units being connected to one another via at least one connection path, and the first control unit being designed to carry out the method according to the invention.
- a particularly advantageous embodiment of the Ethernet vehicle electrical system is characterized in that the Ethernet network has a third control unit, which is only indirectly connected to the first control unit and is connected directly to the second control unit via a third connection path, with the third control unit being designed for this purpose to determine a transit time of a third signal on the third connection path, the first control unit being designed to trigger the determination of the transit time of the third signal by a service message to the third control unit.
- the Ethernet network has a third control unit, which is only indirectly connected to the first control unit and is connected directly to the second control unit via a third connection path, with the third control unit being designed for this purpose to determine a transit time of a third signal on the third connection path, the first control unit being designed to trigger the determination of the transit time of the third signal by a service message to the third control unit.
- platform-independent software with higher quality and durability can be used.
- the use of the invention can be used in other communication systems with clock synchronization components and embedded systems.
- Fig. 1 a simplified representation of the differences between an Ethernet bus (1 OMbit/s) and a switched network
- FIG. 3 shows a physical representation of the Ethernet bus with stubs.
- 1 shows a simplified representation of the differences between an Ethernet bus (1 OMbit/s) and a switched network.
- FIG. 2 illustrates the basic flow of communication on the Ethernet network bus. By sending out the beacon, it is only node 0's turn and when this has finished its transmission, the next node is allowed to send. Typically, only a single Ethernet frame can be sent in the slot.
- Fig. 3 is the component representation of the Ethernet bus with stubs. 4 shows the simplified representation of the task according to the invention.
- the general solution of the invention is represented by a dynamically changing beacon cycle time, with the beacon signals being represented as 'B'.
- the invention proposes a new method to optimize the efficiency of data transmission on the automotive 10Mbit/s bus and to reduce the bus access time for the headnode.
- the idea of the invention describes the adaptations of the Ethernet network bus cycle. In contrast to the FlexRay, this has no negative or thoughtless effects.
- the nodes do not have a fixed time window, but only follow a transmission order based on pre-configured, unique node IDs.
- Figure 6 illustrates on what basis the bus cycle is optimized.
- the headnode determines which data has to be transmitted in which time unit. This can be the size of a file or the duration of a stream.
- the absolute data rate on the bus can be determined in this way, taking into account the overhead in the data transmission (e.g. Ethernet header).
- the method suggests determining the current bus load.
- the current utilization can be determined using the time difference between the last beacons and the number of participating nodes. If the bus load is low, it can be statistically assumed that this does not suddenly increase with the next cycle. You can still react to any changes, since it is suggested to monitor the bus load continuously.
- FIG. 7 represents a partial step of the method in which the necessary data rate is compared with the current bus capacity.
- the necessary download data rate in relation to the 10Mbit bus is calculated first.
- the number of active nodes is determined by the headnode.
- the slots of the inactive participants are determined and are to be made available to the headnode by the method, which is referred to as Dfree.
- Another possible optimization level is described, based on the calculated, necessary data rate at the headnode, to prevent a subset (or all) of the other participants on the bus (except of course the headnode) from sending and thus to reduce the cycle time for the purpose of the download (or security update). reduce that the headnode can serve its necessary data rate, even if, according to normal bus operation, there would not be enough bandwidth available. For this purpose, a constant comparison is made as to how much data the headnode would still have to send in the current cycle, with this value being taken as a limit value which must not fall below 0 in this cycle and which is why the cycle would be ended beforehand by sending the next beacon.
- the invention proposes determining the trustworthiness of a communication partner or its application. If this trustworthiness is determined, the exchange of sensitive data can be carried out.
- FIG. 3 also shows a section of an overall system architecture in which an ECU (server) can be connected to other sensors and ECUs and components outside the vehicle.
- the headnodes on the server are typically connected to the PCB (board) via MH (Media Independent Interface) or PCI-Express and therefore always manage without transceivers (PHYs).
- MH Media Independent Interface
- PHYs transceivers
- An Ethernet transceiver causes a delay in the 3-digit nanosecond range. That doesn't sound like much, but the delay on layer 2 (MAC) is in the 1-digit nanosecond range or tends towards 0 - depending on how high the resolution of the measurement is.
- the method first determines the address of the application that is to be used to exchange data (receive, send, or both).
- the method then starts a runtime measurement for this component.
- the PDelay_Request procedure of the gPTP protocol (or 802.1AS) can be used.
- Two responses are sent back in response, and hardware timestamps can be used to determine the message's transit time.
- the use of a protocol with hardware time stamps NTP, for example, is ruled out because the resolution is too imprecise.
- the method calculates the physical distance to this participant. The distance is not directly expressed by a unit of measurement such as meters or centimeters, but can be converted to the number of components (PHYs, switches) that are part of the connection, since this delay is significant in contrast to the delay on the actual cable is.
- the method measures the transit time to a participant/address by starting transit time measurements (e.g. part of the PTP protocol) and calculating the distance to this participant from this.
- the measured running time must first be evaluated in order to provide information about the location.
- the software cannot know whether a partner is located within the same ECU or not, and ideally it should not know if a generalized SW and not a special version is used; IP addresses can also be falsified or changed.
- the runtime of a Mll-based connection does not require PHYs (transceivers). However, neither the time synchronization software nor the actual application that commissions this investigation knows this.
- a PHY converts the data into electrical signals and encodes them, which takes much more time than when two Ethernet MACs communicate with each other via the MH-based lines.
- the method presented recognizes whether a participant is directly connected to the requesting participant. If this is not the case, the appropriate protocol can be selected depending on the latency. For latencies that apply within the vehicle, MAC-Sec, IP-Sec and other IP/TCP-based methods could be used, for example, if the latency is so high and the participant is undoubtedly outside the vehicle.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP21830940.9A EP4256757A1 (de) | 2020-12-03 | 2021-11-30 | Verfahren zum schnellen flashen von sensorknoten über ein ethernetnetzwerk |
JP2023533897A JP2023551945A (ja) | 2020-12-03 | 2021-11-30 | イーサネットネットワークを介してセンサノードを急速にフラッシュさせる方法 |
CN202180079004.1A CN116601923A (zh) | 2020-12-03 | 2021-11-30 | 用于经由以太网网络快速刷新传感器节点的方法 |
US18/038,120 US20240073060A1 (en) | 2020-12-03 | 2021-11-30 | Method for rapidly flashing sensor nodes via an ethernet network |
KR1020237016104A KR20230084576A (ko) | 2020-12-03 | 2021-11-30 | 이더넷 네트워크를 통해 센서 노드를 빠르게 플래싱하는 방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020215329.9 | 2020-12-03 | ||
DE102020215329.9A DE102020215329A1 (de) | 2020-12-03 | 2020-12-03 | Verfahren zum schnellen Flashen von Sensorknoten über ein Ethernetnetzwerk |
Publications (1)
Publication Number | Publication Date |
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WO2022117167A1 true WO2022117167A1 (de) | 2022-06-09 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/DE2021/200227 WO2022117167A1 (de) | 2020-12-03 | 2021-11-30 | Verfahren zum schnellen flashen von sensorknoten über ein ethernetnetzwerk |
Country Status (7)
Country | Link |
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US (1) | US20240073060A1 (de) |
EP (1) | EP4256757A1 (de) |
JP (1) | JP2023551945A (de) |
KR (1) | KR20230084576A (de) |
CN (1) | CN116601923A (de) |
DE (1) | DE102020215329A1 (de) |
WO (1) | WO2022117167A1 (de) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050213503A1 (en) | 2004-03-23 | 2005-09-29 | Microsoft Corporation | Bandwidth allocation |
DE102006003067A1 (de) * | 2006-01-20 | 2007-07-26 | Robert Bosch Gmbh | Verfahren und System zur dynamischen Ressourcenzuweisung |
EP2585940A1 (de) | 2010-06-24 | 2013-05-01 | Entropic Communications Inc. | Knotenbasiertes dienstqualitätsmanagement |
DE102011085764A1 (de) * | 2011-11-04 | 2013-05-08 | Robert Bosch Gmbh | Verfahren zum Betreiben einer Busanordnung |
US20200136993A1 (en) * | 2018-10-29 | 2020-04-30 | Hyundai Motor Company | Method and apparatus for allocating transmission opportunities in vehicle network |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011012572B3 (de) | 2011-02-26 | 2012-03-08 | Audi Ag | Kraftfahrzeug mit einem FlexRay-Bus |
DE102013002647B3 (de) | 2013-02-15 | 2014-05-22 | Audi Ag | Kraftwagen mit einem Fahrzeugkommunikationsbus und Verfahren zum Erzeugen von Busnachrichten |
DE102013002648B3 (de) | 2013-02-15 | 2014-05-22 | Audi Ag | Master-Busgerät für einen Fahrzeugkommunikationsbus eines Kraftwagens |
-
2020
- 2020-12-03 DE DE102020215329.9A patent/DE102020215329A1/de active Pending
-
2021
- 2021-11-30 US US18/038,120 patent/US20240073060A1/en active Pending
- 2021-11-30 CN CN202180079004.1A patent/CN116601923A/zh active Pending
- 2021-11-30 WO PCT/DE2021/200227 patent/WO2022117167A1/de active Application Filing
- 2021-11-30 EP EP21830940.9A patent/EP4256757A1/de active Pending
- 2021-11-30 KR KR1020237016104A patent/KR20230084576A/ko unknown
- 2021-11-30 JP JP2023533897A patent/JP2023551945A/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050213503A1 (en) | 2004-03-23 | 2005-09-29 | Microsoft Corporation | Bandwidth allocation |
DE102006003067A1 (de) * | 2006-01-20 | 2007-07-26 | Robert Bosch Gmbh | Verfahren und System zur dynamischen Ressourcenzuweisung |
EP2585940A1 (de) | 2010-06-24 | 2013-05-01 | Entropic Communications Inc. | Knotenbasiertes dienstqualitätsmanagement |
DE102011085764A1 (de) * | 2011-11-04 | 2013-05-08 | Robert Bosch Gmbh | Verfahren zum Betreiben einer Busanordnung |
US20200136993A1 (en) * | 2018-10-29 | 2020-04-30 | Hyundai Motor Company | Method and apparatus for allocating transmission opportunities in vehicle network |
Also Published As
Publication number | Publication date |
---|---|
EP4256757A1 (de) | 2023-10-11 |
DE102020215329A1 (de) | 2022-06-09 |
KR20230084576A (ko) | 2023-06-13 |
CN116601923A (zh) | 2023-08-15 |
JP2023551945A (ja) | 2023-12-13 |
US20240073060A1 (en) | 2024-02-29 |
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