WO2022180892A1 - 電子装置及び通信制御方法 - Google Patents
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- 238000004891 communication Methods 0.000 title claims abstract description 204
- 238000000034 method Methods 0.000 title claims description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000001960 triggered effect Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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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]
- H04L12/46—Interconnection of networks
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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
- H04L12/4015—Bus networks involving priority mechanisms by scheduling the transmission of messages at the communication node
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40241—Flexray
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Definitions
- the present invention relates to an electronic device, and more particularly to technology for adjusting communication timing in a control system to which networks of different protocols are connected.
- Patent Document 1 Japanese Unexamined Patent Application Publication No. 2011-109452 discloses an in-vehicle communication system in which a time-triggered communication network and an event-driven communication network are connected via a gateway, and includes a time-triggered communication network.
- in-vehicle communication comprising priority transmission means for setting a predetermined priority to a synchronous frame transmitted from and transmitting it to the CAN network; and transmission means for transmitting transmission data to the FlexRay network triggered by reception of the synchronous frame.
- a system is disclosed.
- Patent Document 1 targets communication frames that have a relationship between requests and responses. It is difficult to control to shorten the communication delay time of the communication frame.
- the present invention aims to provide a technique for adjusting communication timing between event-driven networks in synchronization with the communication schedule of the time-triggered network.
- a representative example of the invention disclosed in the present application is as follows. That is, in a system in which a time-triggered first communication network and an event-driven second communication network are connected via a gateway, the electronic device is installed under the second communication network. hold a communication schedule of the first communication network, identify a communication cycle from frames transmitted from the first communication network, and receive specific communication frames transmitted from the first communication network. to determine the transmission timing of the communication frame to the first communication network.
- FIG. 1 is a block diagram illustrating an example of a communication system
- FIG. It is a flowchart figure which shows the process of an in-vehicle electronic device.
- FIG. 10 is a sequence diagram showing execution of synchronous communication in a cycle synchronous frame reception cycle;
- FIG. 1 is a block diagram showing an example of a communication system according to this embodiment.
- the communication system of the present embodiment is composed of a time-triggered FlexRay network 10 in which slots are scheduled and an event-driven Ethernet network 20 , and each network is connected via a gateway 31 .
- FlexRay network 10 transmits a communication frame to ECU 21 of Ethernet network 20 via gateway 31 .
- the ECU 21 of the Ethernet network 20 identifies the cycle count of the FlexRay communication schedule from the received communication frame.
- the ECU 21 of the Ethernet network 20 switches the frame configuration for one cycle to start transmission based on the specified cycle count.
- the ECU 21 of the Ethernet network 20 starts transmitting the communication frames for one cycle selected in (3) to the FlexRay network 10, triggered by the frame reception of the preset slot number.
- the ECU 11 of the FlexRay network 10 communicates according to the FlexRay communication schedule. There is no control specific to this embodiment.
- the ECU 11 of the FlexRay network 10 transmits communication frames to the gateway 31 according to the FlexRay communication protocol.
- the gateway 31 first converts the protocol of the received communication frame, that is, the FlexRay communication frame into an Ethernet communication frame.
- the protocol-converted communication frame is immediately transmitted to the ECU 21 of the Ethernet network 20 .
- a FlexRay communication frame and an Ethernet communication frame are associated by a FlexRay frame ID and an Ethernet port number, and the gateway 31 holds the association information.
- a communication frame is transmitted from the FlexRay network 10 to the Ethernet network 20 regardless of whether or not the present invention is applied.
- the ECU 21 of the Ethernet network 20 is controlled to transmit communication frames at timing synchronized with the FlexRay communication schedule.
- the ECU 21 of the Ethernet network 20 uses two communication frames selected from among the communication frames received from the FlexRay network 10 to determine transmission timing of the communication frames. One is a cycle synchronization frame and the other is a slot synchronization frame.
- a cycle sync frame has a longer period than a slot sync frame.
- cycle synchronization frame For the cycle synchronization frame, select a communication frame that can identify the cycle count of the FlexRay communication schedule. As the cycle synchronization frame, one having the longest communication cycle may be selected from among the communication frames transmitted from the FlexRay network 10 to the ECU 21 of the Ethernet network 20 . Therefore, the ECU 21 of the Ethernet network 20 can identify the cycle count by receiving the cycle synchronization frame. In this way, cycle synchronization frames are received at intervals greater than or equal to slot synchronization frames, such as a cycle synchronization frame every four cycles and a slot synchronization frame every cycle.
- slot synchronization frames such as a cycle synchronization frame every four cycles and a slot synchronization frame every cycle.
- a cycle synchronization frame is used to switch the configuration of a frame for one cycle transmitted by the ECU 21 of the Ethernet network 20 . Since frames of a plurality of communication cycles are mixed in FlexRay, the communication schedule is switched for each communication frame.
- the slot synchronization frame For the slot synchronization frame, select a communication frame that can identify the slot number of the FlexRay communication schedule. As the slot synchronization frame, one having the shortest communication cycle may be selected from among the communication frames transmitted from the FlexRay network 10 to the ECU 21 of the Ethernet network 20 .
- the slot synchronization frame is used as a trigger when the ECU 21 of the Ethernet network 20 starts transmitting communication frames for one cycle. After specifying the cycle count by the cycle synchronization frame, the communication frame to be transmitted in the next cycle is switched by updating the count by receiving the slot synchronization frame.
- the ECU 21 of the Ethernet network 20 holds all patterns of communication frame configurations.
- the maximum value of the number of patterns in the communication frame structure is the longest cycle period/shortest cycle period of the communication frame transmitted from the FlexRay network 10 to the ECU 21 of the Ethernet network 20 .
- the FlexRay communication schedule is defined by 64 cycles, it is expressed by the above formula when considering overlapping cycles of the communication frame structure. That is, the ECU 21 of the Ethernet network 20 does not necessarily recognize the FlexRay communication schedule as 64 cycles.
- the communication frame configuration is only one pattern, and there is no need to switch the frame configuration for each cycle. Therefore, it is not necessary to define a cycle synchronization frame.
- the communication frame configuration includes the data content and transmission timing information of a communication frame for one cycle whose transmission is started with the reception of a slot synchronization frame as a trigger. Data content and transmission timing are determined with reference to FlexRay communication schedule information.
- One cycle of the communication frame transmitted from the ECU 21 of the Ethernet network 20 to the FlexRay network 10 is the same as the shortest cycle cycle of the communication frame transmitted from the FlexRay network 10 to the ECU 21 of the Ethernet network 20, and is equal to one cycle of the FlexRay communication schedule. Not necessarily the same period.
- the time range of one cycle of the communication frame configuration is one cycle from the slot number obtained by adding the offset of the total transmission/reception processing time between the gateway 31 and the ECU 21 of the Ethernet network 20 to the slot number of the slot synchronization frame.
- an offset of several slots may be added as a safety factor.
- FIG. 2 is a flowchart of processing executed by the ECU 21 of the Ethernet network 20.
- FIG. 2 is a flowchart of processing executed by the ECU 21 of the Ethernet network 20.
- the ECU 21 sets the initial value of the cycle count.
- the initial value may be set to 0 (101).
- the ECU 21 refers to the communication frame configuration pattern (102) and switches the configuration of the frame to be transmitted (103). Specifically, the data configuration for one cycle is set for each cycle count.
- the ECU 21 receives the slot synchronization frame (104)
- the reception of the slot synchronization frame is used as a trigger to start transmission of communication frames for one cycle (105). That is, the communication frame is transmitted after the time required for communication to the FlexRay network 10 .
- the ECU 21 does not receive the slot synchronization frame, the process is terminated. For example, by turning off the ignition, the ECU 21 operates for a while but does not receive the slot synchronization frame.
- the ECU 21 when the ECU 21 receives the cycle synchronization frame (106), it resets the cycle count (107). The ECU 21 switches the frame configuration for one cycle at this timing. On the other hand, if the ECU 21 does not receive the cycle synchronization frame, it counts up the cycle count (108). The ECU 21 can switch the frame configuration for one cycle at this timing.
- step 102 After that, return to step 102, refer to the communication frame configuration pattern, and repeat the process.
- FIG. 3 is an example of a diagram showing a communication sequence of the in-vehicle electronic device of this embodiment.
- the cycle-synchronized frame having the longest communication cycle is selected. be.
- the ECU 21 of the Ethernet network 20 can identify the cycle count and switch the configuration of the communication frame to be transmitted to the FlexRay network 10 .
- the slot synchronization frame selected from the shortest communication cycle is protocol-converted by the gateway 31 and transferred to the ECU 21 of the Ethernet network 20. .
- the ECU 21 of the Ethernet network 20 Upon receiving the slot synchronization frame, the ECU 21 of the Ethernet network 20 starts transmitting communication frames to the FlexRay network 10, and transmits communication frames for one cycle.
- the ECU 21 of the Ethernet network 20 transmits communication frames in synchronization with the FlexRay communication schedule.
- the ECU 21 of the Ethernet network 20 of the present embodiment transmits communication frames at time intervals based on the FlexRay communication schedule from the first slot in one cycle of the communication frame configuration, so that the ECU 21 of the Ethernet network 20 , the time-triggered communication of the FlexRay network 10 can be simulated, and communication frames can be transmitted in synchronization with the FlexRay communication schedule.
- the communication frame transmission timing of the Ethernet network 20 is synchronized with the communication schedule of the FlexRay network 10, so even under the following conditions, the communication delay time from data generation to transmission can be shortened.
- the communication schedule of the FlexRay network 10 includes communication frames of a plurality of communication cycles.
- a communication frame is unilaterally transmitted from the Ethernet network 20 to the FlexRay network 10 .
- the ECU 21 of the Ethernet network 20 identifies reception of a cycle synchronization frame and a slot synchronization frame, and controls transmission of communication frames based on the FlexRay communication schedule information it holds. Communication frames can be sent synchronously.
- the communication schedule can be switched for each communication frame at an appropriate timing.
- one with the shortest communication cycle is selected as the slot synchronization frame, so that the count can be updated by receiving the slot synchronization frame, and is synchronized with the FlexRay communication schedule. can send communication frames.
- the present invention is not limited to the above-described embodiments, and includes various modifications and equivalent configurations within the scope of the attached claims.
- the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the described configurations.
- part of the configuration of one embodiment may be replaced with the configuration of another embodiment.
- the configuration of another embodiment may be added to the configuration of one embodiment.
- additions, deletions, and replacements of other configurations may be made for a part of the configuration of each embodiment.
- each configuration, function, processing unit, processing means, etc. described above may be realized by hardware, for example, by designing a part or all of them with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing a program to execute.
- Information such as programs, tables, and files that implement each function can be stored in storage devices such as memory, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.
- storage devices such as memory, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.
- control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines necessary for implementation. In practice, it can be considered that almost all configurations are interconnected.
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Abstract
Description
(1)FlexRayネットワーク10は、ゲートウェイ31を介してEthernetネットワーク20のECU21へ通信フレームを送信する。
(2)Ethernetネットワーク20のECU21は、受信した通信フレームからFlexRay通信スケジュールのサイクルカウントを特定する。
(3)Ethernetネットワーク20のECU21は、特定したサイクルカウントに基づいて、送信開始する1サイクル分のフレーム構成を切り替える。
(4)Ethernetネットワーク20のECU21は、予め設定されたスロット番号のフレーム受信をトリガとして、(3)で選択された1サイクル分の通信フレームをFlexRayネットワーク10へ送信開始する。
このように本実施例のEthernetネットワーク20のECU21は、通信フレーム構成の1サイクルにおける第1スロットから、FlexRay通信スケジュールに基づいた時間間隔にて通信フレームを送信することによって、Ethernetネットワーク20のECU21が、FlexRayネットワーク10のタイムトリガ方式通信を模擬し、FlexRay通信スケジュールに同期して通信フレームを送信できる。
・FlexRayネットワーク10の通信スケジュールに複数の通信サイクルの通信フレームが混在している。
・Ethernetネットワーク20からFlexRayネットワーク10へ一方的に通信フレームが送信される。
Claims (10)
- タイムトリガ方式の第1の通信ネットワークと、イベントドリブン方式の第2の通信ネットワークとがゲートウェイを介して接続されたシステムにおいて、前記第2の通信ネットワークの配下に設置された電子装置であって、
前記第1の通信ネットワークの通信スケジュールを保持し、
前記第1の通信ネットワークから送信されたフレームから、通信サイクルを特定し、
前記第1の通信ネットワークから送信された特定の通信フレームの受信によって、前記第1の通信ネットワークへの通信フレームの送信タイミングを決定することを特徴とする電子装置。 - 請求項1に記載の電子装置であって、
前記特定の通信フレームのうちスロット同期フレームの受信をトリガに、前記第1の通信ネットワークへ通信フレームの送信を開始することを特徴とする電子装置。 - 請求項2に記載の電子装置であって、
前記特定の通信フレームは、前記スロット同期フレームと、前記電子装置が送信する1サイクル分の通信フレームの構成を切り替えるために使用されるサイクル同期フレームとを含み、
前記サイクル同期フレームは前記スロット同期フレームより長周期であることを特徴とする電子装置。 - 請求項3に記載の電子装置であって、
前記第1の通信ネットワークから前記第2の通信ネットワークへ送信される通信フレームのうち、通信サイクルが最も短いものを前記スロット同期フレームに選択することを特徴とする電子装置。 - 請求項3に記載の電子装置であって、
前記第1の通信ネットワークから前記第2の通信ネットワークへ送信される通信フレームのうち、通信サイクルが最も長いものを前記サイクル同期フレームに選択することを特徴とする電子装置。 - 電子装置が実行する通信制御方法であって、
前記電子装置は、タイムトリガ方式の第1の通信ネットワークと、イベントドリブン方式の第2の通信ネットワークとがゲートウェイを介して接続されたシステムにおいて、前記第2の通信ネットワークの配下に設置されており、
前記通信制御方法は、
前記電子装置が、前記第1の通信ネットワークの通信スケジュールを保持し、
前記電子装置が、前記第1の通信ネットワークから送信されたフレームから、通信サイクルを特定し、
前記電子装置が、前記第1の通信ネットワークから送信された特定の通信フレームの受信によって、前記第1の通信ネットワークへの通信フレームの送信タイミングを決定することを特徴とする通信制御方法。 - 請求項6に記載の通信制御方法であって、
前記電子装置が、前記特定の通信フレームのうちスロット同期フレームの受信をトリガに、前記第1の通信ネットワークへ通信フレームの送信を開始することを特徴とする通信制御方法。 - 請求項7に記載の通信制御方法であって、
前記特定の通信フレームは、前記スロット同期フレームと、前記電子装置が送信する1サイクル分の通信フレームの構成を切り替えるために使用されるサイクル同期フレームとを含み、
前記通信制御方法は、前記電子装置が、前記サイクル同期フレームは前記スロット同期フレームより長周期であることを特徴とする通信制御方法。 - 請求項8に記載の通信制御方法であって、
前記電子装置が、前記第1の通信ネットワークから前記第2の通信ネットワークへ送信される通信フレームのうち、通信サイクルが最も短いものを前記スロット同期フレームに選択することを特徴とする通信制御方法。 - 請求項8に記載の通信制御方法であって、
前記電子装置が、前記第1の通信ネットワークから前記第2の通信ネットワークへ送信される通信フレームのうち、通信サイクルが最も長いものを前記サイクル同期フレームに選択することを特徴とする通信制御方法。
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JP2011109452A (ja) * | 2009-11-18 | 2011-06-02 | Toyota Motor Corp | 車載通信システム |
JP2011193227A (ja) * | 2010-03-15 | 2011-09-29 | Denso Corp | 通信ネットワークシステム、中継端末、マイクロコンピュータ、送受信装置 |
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US8775681B2 (en) | 2011-04-27 | 2014-07-08 | GM Global Technology Operations LLC | Cross-network synchronization of application S/W execution using flexray global time |
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JP2011109452A (ja) * | 2009-11-18 | 2011-06-02 | Toyota Motor Corp | 車載通信システム |
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