KR20190013012A - Method for transceiving data between heterogeneous network - Google Patents

Abstract

The present invention relates to a method for transceiving data between heterogeneous networks, and more specifically, to a method for routing data between heterogeneous networks through gateway for car considering bus load. According to an embodiment of the present invention, a method for routing data between heterogeneous networks comprises the steps of: receiving a first message from at least one controller according to a first protocol to a controller according to a second protocol; determining whether a second message having an ID adjacent to the ID of the first message exists among messages waiting for transmission; comparing a priority of the first message and a priority of the second message when the determination result is exist; integrating the first message and the second message into a message according to the second protocol according to a result of the comparison; and transmitting the integrated message to the controller according to the second protocol.

Description

{METHOD FOR TRANSCEIVING DATA BETWEEN HETEROGENEOUS NETWORK}

The present invention relates to a heterogeneous network data routing method, and more particularly, to a heterogeneous network data routing method through a car gateway considering a bus load.

The in-vehicle gateway controller can serve to route data in different networks. At this time, when data is routed between heterogeneous communication protocols, different communication speeds and data sizes that can be transmitted one time may be different.

For example, the maximum transmission rate and transmission data per protocol used in a car network are listed in Table 1 below.

division LIN CAN FlexRay Ethernet Low speed CAN High-speed CAN CAN-FD Maximum transmission
Speed [bps] 20 k 125 k 1 M
12 M
10 M
100 M / 1G
Actual setting
Transmission speed 9.6 / 19.2 kbps 100 kbps
500 kbps 2 Mbps 10 Mbps 100 Mbps
1 time
Transmission data 1 to 8 bytes
0 to 8 bytes
0 to 64 bytes
0 to 254 bytes
0 to 1,500 bytes

As described above, the communication speed and the data size that can be transmitted once are different for each protocol, resulting in inefficient data transmission, memory usage, and CPU load.

For example, if a high-speed CAN (500 kbps communication speed, 8 bytes of transmission data) message is to be routed to CAN FD (communication speed 2 Mbps, 64 bytes of transmission data), two methods are considered as follows .

As a first method, there is a method of routing 8 bytes of high-speed CAN data to 8 bytes of CAN FD. This method has a problem of inefficient use of the CAN FD network capable of high-speed and large-capacity data transmission, and routing of some messages may be delayed due to the priority of the message depending on the situation. This will be described with reference to FIG.

FIG. 1 is a diagram for explaining a problem of routing the same data size among heterogeneous networks in a general vehicle network.

Referring to FIG. 1, a controller A and a controller B that operate in accordance with the high-speed CAN protocol through a gateway, and a controller C and a controller D that operate in accordance with the CAN FD protocol exchange data. The gateway receives messages of various IDs through the high-speed CAN network. At this time, the lower ID indicates a higher priority. Since the gateway transmits a message received by 8 bytes to a high-speed, large-capacity CAN FD, only data corresponding to one high-speed CAN message can be transmitted at a time. Therefore, a low-priority message (i.e., a 400-series ID) is queued for transmission at the gateway, resulting in a routing delay.

As a second method, 8 bytes of 8-byte data of high-speed CAN can be integrated and then 64 bytes can be routed to CAN FD. That is, after receiving the high-speed CAN data, the gateway continuously stores the data in the memory, and transmits the integrated CAN FD message. Therefore, this method has a problem of increasing memory usage and CPU load. This will be described with reference to FIG.

2 is a diagram for explaining a problem of integrated routing of heterogeneous messages in a general vehicle network. In Fig. 2, the basic network configuration is similar to Fig. 1, except that the controller D is omitted.

Referring to FIG. 2, data is stored in a buffer until the gateway receives a high-speed CAN message corresponding to 64 bytes, which is the data size of the CAN FD message. Then, if all 64 bytes of data for CAN FD transmission are all collected, the CAN FD message of the size of 64 bytes is transmitted by combining the eight 8-byte data stored. Therefore, there is a problem that the routing time of a previously received message is delayed until 64 bytes of data are collected, in addition to a problem of a memory usage of a gateway and an increase of a CPU load.

The present invention is intended to provide a method for performing heterogeneous network data transmission more efficiently.

In particular, the present invention provides a method for performing heterogeneous network data transmission in which the transmission speed is improved and the delay is minimized in an environment where heterogeneous network communication is performed through a gateway for a vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

According to another aspect of the present invention, there is provided a method for routing data between heterogeneous networks of a gateway for a vehicle, the method comprising: receiving, from at least one controller according to a first protocol, ; Determining whether a second message having an ID adjacent to the ID of the first message exists among the transmission standby messages; Comparing the priority of the first message and the priority of the second message when the determination result is present; Integrating the first message and the second message into a message according to the second protocol according to a result of the comparison; And transmitting the aggregated message to a controller according to the second protocol.

According to another aspect of the present invention, there is provided a message reception method of a receiving-side controller according to inter-network routing of a gateway for a vehicle, the method comprising: receiving a message from the gateway; Cutting the data of the received message from the beginning by a first data length corresponding to a first ID that is an ID of the received message; Restoring the cut data into a message having the first ID; And subtracting the first data length from a data length code (DLC) of the received message.

The effect of the heterogeneous network data transmission method according to the present invention is as follows.

First, heterogeneous mangled data exchange can be performed in a network having a vehicle gateway more efficiently.

In particular, two or more messages satisfying a predetermined condition can be transmitted at one time, thereby being efficient and having a small transmission delay.

The effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description will be.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new embodiment.
FIG. 1 is a diagram for explaining a problem of routing the same data size among heterogeneous networks in a general vehicle network.
2 is a diagram for explaining a problem of integrated routing of heterogeneous messages in a general vehicle network.
FIG. 3 illustrates an example of a format in which inter-protocol message groups and sizes are defined for heterogeneous data transmission according to an exemplary embodiment of the present invention. And shows an example of the process of transmitting the manganese data.
5 illustrates an example of a process of routing heterogeneous network data in a gateway according to an embodiment of the present invention.
6 shows an example of a process of checking data transmitted from a gateway in a reception-side controller according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and various methods to which embodiments of the present invention are applied will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

In one embodiment of the present invention, it is proposed that a plurality of CAN messages are grouped considering the size of a CAN FD message, and a CAN message having an adjacent ID belonging to the same group is transmitted in one CAN FD message. This method will be described with reference to Figs. 3 and 4. Fig.

FIG. 3 illustrates an example of a format in which inter-protocol message groups and sizes are defined for heterogeneous data transmission according to an exemplary embodiment of the present invention. And shows an example of the process of transmitting the manganese data.

Referring to FIG. 3, a data size capable of grouping and CAN FD transmittable can be defined for high-speed CAN messages that are routed in the gateway according to the CAN FD Size.

Here, the messages of the same CAN FD group have a size capable of sequentially including at least one of the messages having the next ID as the transmittable data size. For example, a message having an ID of 0x106 in the CAN FD1 group has a size of 16, which is the sum of 8 corresponding to the size of the sendable data and 8 of the size of 0x107, which is the next ID. However, since the minimum size of the message is 8 bytes, the transmission size is 8 bytes even if the data size is less than 8 bytes. For example, in the CAN FD2 group, the 0x405 message has a minimum value of 8 for the transmittable data even if the data size is 3. Of course, it also has the size of transmittable data 19, which is the size of itself and the sum of the data sizes of the next IDs 0x406 and 0x407, respectively.

It is preferable that the table of the form shown in FIG. 3 is shared in advance between the gateway and the receiver-side controller (that is, the controller that operates according to the CAN FD protocol).

Referring to FIG. 4, the types and order of the messages transmitted by the controller A and the controller B are the same as those in FIG.

However, when receiving a routing message from the gateway, a message that can not be transmitted due to the bus load of the receiving side network among the same CAN FD routing message group may be retrieved from the software buffer or the hardware buffer.

In this case, if a message waiting for transmission among the messages adjacent to the IDs in the same CAN FD message group is found, the gateway sets a message size having a lower priority to the data length code (DLC) of the higher priority message And append the data of the message having the lower priority to the data of the message having the higher priority.

For example, if the 0x402 message is not transmitted in the state shown in FIG. 4 and the 0x402 message is received in the buffer, the gateway confirms that the two messages are the same CAN FD group (two groups in FIG. 3) The data of the 0x402 message is appended to the 0x401 message having the higher priority. At this time, the DLC can be set to 16 by adding 8, which is the value of 0x402, to 8, which is the value of the 0x401 message itself.

The message transmitted in the above-described manner can be unpacked in the following manner on the receiving end side.

At the receiving end, the DLC of the message is checked first, and the original message for the received message ID is recovered by separating from the received data by the data length corresponding to the ID in the received message. Next, the original message for the received message ID + 1 is recovered by separating the remaining data by the data length corresponding to the next ID of the message ID. The separation process for the remaining data is repeated until the DLC becomes zero.

For example, in the situation shown in FIG. 4, a data length of 0x401 message is firstly extracted from the starting point among 16 bytes, and the 0x401 message is restored. Accordingly, after the 0x401 message is recovered, the DLC becomes 16-8 and becomes 8.

Since the remaining 8 bytes correspond to the data length of 0x402, 8, the entire remaining portion is recovered as the 0x402 message. Since the DLC is 0 to 8-8, the recovery procedure is terminated.

As another example, if a 29 byte 0x401 message is received, the recovery procedure can be performed as follows.

1) 29 Byte original message → 0x401 (8 Byte) message recovery, DLC = 21

2) 21 bytes remaining message → 0x402 (8 bytes) message recovery, DLC = 13

3) 13 bytes remaining message → 0x403 (8 bytes) message recovery, DLC = 5

4) 5 bytes remaining message → 0x404 (5 bytes) message recovery, DLC = 0

The above-described process will be described with reference to FIGS. 5 and 6. FIG.

5 illustrates an example of a process of routing heterogeneous network data in a gateway according to an embodiment of the present invention.

The gateway may extract the message ID adjacent to the ID of the group message to which the received (received) message ID belongs from the transmitter controller (S510). At this time, the number of IDs to be extracted may be set to at least 1 and at most 2, but this is an example, and the present embodiment is not limited to the number of extracted IDs.

If the ID is extracted, the gateway can determine whether the message corresponding to the extracted message ID is in the hardware buffer or in the software buffer (S520).

If there is a message waiting to be transmitted, the gateway determines the message priority of the received message and the neighboring message waiting (S530), and determines the DLC summation and the data pasting order of the message according to the determination result.

For example, if the received message has a higher priority than the waiting message, the DLC of the message waiting in the DLC of the received message is added (S540A), and the data of the message waiting after the data of the received message is attached ).

In contrast, if the waiting message has a higher priority than the received message, the DLC of the received message is added to the DLC of the waiting message (S540B), and the data of the message received after the data of the waiting message is attached (S550B ).

When message integration is completed, the integrated message may be transmitted to the receiving end through a transmission wait request process (S560).

6 shows an example of a process of checking data transmitted from a gateway in a reception-side controller according to an embodiment of the present invention.

Referring to FIG. 6, the receiving-side controller calculates the (maximum) data size of the corresponding message as it is received from the gateway (S610), and determines whether the calculated DLC has a value of the corresponding message ID S620). The determination of step S620 may be performed with reference to the table shown in FIG.

If there is no problem in the DLC, the receiving-side controller performs the message separation and recovery procedure. First, the receiving-side controller sets the DLC, ID, and data of the received message as temporary values (Temp), respectively (S630).

Thereafter, the receiving-side controller separates the data by the DLC of the temporary ID, and pastes the data into the software buffer of the temporary ID (S640). Therefore, the actual message corresponding to the ID of the first received message can be separated from the entire received message. Next, the temporary ID value is incremented by 1, and the temporary DLC value is subtracted from the previous DLC value by the DLC corresponding to the temporary ID (S650).

The separation process and the ID / DLC reset process (S640, S650) can be repeatedly performed while the temporary DLC value remains (S660).

As described above, according to the embodiments of the present invention described above, when a message is routed from a low-speed small capacity communication to a high-speed large capacity communication, the memory usage, the CPU load reduction, and the delay time of the routing message of the gateway controller can be shortened .

The method according to the above-described embodiments may be implemented as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include a ROM, a RAM, a CD- , A floppy disk, an optical data storage device, and the like.

The computer readable recording medium may be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And, functional program, code, and code segments for implementing the above-described method can be easily inferred by programmers in the technical field to which the embodiment belongs.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (14)

A method for routing data between heterogeneous mobiles in a vehicular gateway,
Receiving a first message from at least one controller according to a first protocol to a controller according to a second protocol;
Determining whether a second message having an ID adjacent to the ID of the first message exists among the transmission standby messages;
Comparing the priority of the first message and the priority of the second message when the determination result is present;
Integrating the first message and the second message into a message according to the second protocol according to a result of the comparison; And
And transmitting the aggregated message to a controller according to the second protocol. The method according to claim 1,
Before the determining step,
Further comprising the step of extracting a message ID adjacent to an ID of a group of the group to which the ID of the first message belongs. 3. The method of claim 2,
Wherein the extracting comprises:
Wherein a plurality of messages according to the first protocol are grouped by ID, and a table defining a size of a message according to the second protocol is defined. The method according to claim 1,
Wherein the comparing comprises:
And comparing the ID of the first message with the size of the ID of the second message. The method according to claim 1,
If the priority of the first message is high,
Wherein the merging comprises:
Adding a DLC of the second message to a data length code (DLC) of the first message; And
Attaching data of the second message after data of the first message. The method according to claim 1,
If the priority of the second message is high,
Wherein the merging comprises:
Adding a DLC of the first message to a data length code (DLC) of the second message; And
Attaching data of the first message after data of the second message. The method according to claim 1,
Wherein the second protocol supports higher speed and larger capacity communication than the first protocol. 8. The method of claim 7,
Wherein the first protocol comprises a CAN protocol,
And wherein the second protocol comprises a CAN FD protocol. A computer-readable recording medium having recorded thereon a program for executing a method for routing heterogeneous networks of a gateway for a vehicle according to any one of claims 1 to 8. A message reception method of a reception side controller according to inter-mobility routing of a gateway for a vehicle,
Receiving a message from the gateway;
Cutting the data of the received message from the beginning by a first data length corresponding to a first ID that is an ID of the received message;
Restoring the cut data into a message having the first ID; And
And subtracting the first data length from a DLC (Data Length Code) of the received message. 11. The method of claim 10,
Cutting data corresponding to a second data length corresponding to a second ID, which is a next ID of the first ID, in remaining data remaining after the cutting;
Restoring data cut by the second data length into a message having the second ID; And
Further comprising subtracting the second data length from the DLC in which the first data length is subtracted. 11. The method according to claim 9 or 10,
And stopping the additional message recovery when the DLC becomes 0 as a result of the subtraction in the subtracting step. 11. The method of claim 10,
Calculating a maximum data size of the first ID; And
Further comprising the step of determining whether the DLC is a value that the first ID can hold. 14. The method of claim 13,
Wherein the determining step comprises:
A message reception method of a receiving-side controller, which is performed by referring to a table that defines a size of at least one message that can be included in each ID.

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