Method and apparatus for controlling communication of data collision avoidance in domain and vehicle and storage medium including the same

Abstract

A communication control method for preventing data collision within a domain according to an embodiment of the present invention comprises: a step in which one of a first and second master communication node, each connected to a first and second domain, sequentially grants a transmission opportunity to a plurality of communication nodes connected to one of the first and second domains in a sequence at a time; and a step in which one of the first and second master communication nodes receives data from at least one of the plurality of communication nodes, transmits the data between the first and second domains, and transmits the data within the domain connected to at least one of the first and second master communication nodes during the transmission opportunity; wherein the transmission step may include monitoring the data transmission amount of at least one of the plurality of communication nodes and, selectively according to the result of monitoring the data transmission amount, further granting a transmission opportunity to at least one of the first and second master communication nodes.

Description

Technology Field

[0001] The present invention relates to a method and apparatus for preventing data collisions within a domain, and to a vehicle and a storage medium including the same. Background Technology

[0003] As the electronification of automotive components progresses rapidly, the types and number of electronic devices (e.g., ECUs (Electronic Control Units)) installed in vehicles are increasing significantly. Electronic devices can be broadly utilized in powertrain control systems, body control systems, chassis control systems, vehicle networks, and multimedia systems. Powertrain control systems may refer to engine control systems and automatic transmission control systems. Body control systems may refer to body electronics control systems, convenience device control systems, and lamp control systems. Chassis control systems may refer to steering control systems, brake control systems, and suspension control systems.

[0004] Meanwhile, vehicle networks may refer to CAN (controller area network), FlexRay-based networks, MOST (media oriented system transport)-based networks, etc. Multimedia systems may refer to navigation systems, telematics systems, infotainment systems, etc.

[0005] These systems and the electronic devices constituting each of them are connected via a vehicle network, and there is currently a demand for vehicle networks to support the functions of each of these electronic devices. CAN can support a transmission speed of up to 1 Mbps and can support automatic retransmission of collided frames and error detection based on CRC (cycle redundancy check). FlexRay-based networks can support a transmission speed of up to 10 Mbps and can support simultaneous data transmission via two channels and synchronous data transmission. MOST-based networks are communication networks for high-quality multimedia and can support a transmission speed of up to 150 Mbps.

[0006] Meanwhile, vehicle telematics systems, infotainment systems, and enhanced safety systems require high transmission speeds and system scalability, which CAN and FlexRay-based networks cannot adequately support. Although MOST-based networks can support higher transmission speeds compared to CAN and FlexRay-based networks, applying MOST-based networks to all vehicle networks would incur significant costs. Due to these issues, Ethernet-based networks can be considered for vehicle networks. Ethernet-based networks can support bidirectional communication through a pair of windings and support transmission speeds of up to 10 Gbps.

[0007] One of the Ethernet protocols that a vehicle network can support is 10SPE (Single Pair Ethernet). In the case of 10SPE where multiple nodes are connected, collisions between different data packets may occur at the PHY layer if multiple end nodes attempt to transmit data packets to other end nodes simultaneously. Multiple end nodes connected to a 10SPE network can use the PLCA (PHY layer collision avoidance) function to avoid PHY layer collisions. The PLCA function refers to a feature that sequentially grants transmission opportunities to multiple end nodes connected to the 10SPE network to transmit data packets. The PLCA function can provide enhanced performance in Multidrop Ethernet networks through a small number of nodes (less than 16) and low propagation delay.

[0008] Communication nodes constituting an Ethernet vehicle-based network can be connected using a bus network topology. Interfaces defined in IEEE (Institute of Electrical and Electronics Engineers) 802.3cg can support CSMA / CD (Carrier Sense Multi-Access / Collision Detection) functions, which consider collisions between messages, and PLCA functions, which do not consider collisions. Generally, in a bus network topology, network efficiency can be higher when the communication network operates using PLCA functions compared to when it operates using CSMA / CD functions. The problem to be solved

[0010] Methods for preventing in-domain data collisions, such as PLCA, can cause more communication delay as the amount of data transmitted by the communication node increases. The communication control method and apparatus for preventing in-domain data collisions according to one embodiment of the present invention, and the vehicle and storage medium including the same, can reduce communication delay while preventing in-domain data collisions. means of solving the problem

[0012] A communication control method for preventing data collision within a domain according to an embodiment of the present invention comprises: a step in which one of a first and second master communication node, each connected to a first and second domain, sequentially grants a transmission opportunity to a plurality of communication nodes connected to one of the first and second domains in a sequence at a time; and a step in which one of the first and second master communication nodes receives data from at least one of the plurality of communication nodes, transmits the data between the first and second domains, and transmits the data within the domain connected to at least one of the first and second master communication nodes during the transmission opportunity; wherein the transmission step may include monitoring the data transmission amount of at least one of the plurality of communication nodes and, selectively according to the result of monitoring the data transmission amount, further granting a transmission opportunity to at least one of the first and second master communication nodes.

[0013] For example, in the above-mentioned transmission step, one of the first and second master communication nodes may include transmitting the data between the first and second domains, not limited to the transmission opportunities of the first and second master communication nodes.

[0014] For example, in the above transmission step, the plurality of communication nodes may be restricted from transmitting data outside of one of the first and second domains by bypassing the first and second master communication nodes.

[0015] For example, the transmitting step may include receiving an Ethernet-based message containing the data from at least one of the plurality of communication nodes, transmitting the Ethernet-based message containing the data between the first and second domains, and transmitting the Ethernet-based message containing the data within the domain to which at least one of the first and second master communication nodes is connected during the transmission opportunity.

[0016] For example, the granting step may include one of the first and second master communication nodes transmitting a beacon signal to the plurality of communication nodes every one period.

[0017] For example, the transmitting step may include, optionally according to the result of monitoring the data transmission volume, transmitting a sequence setting message to at least some of the plurality of communication nodes to delay the transmission opportunity sequence of at least some of the plurality of communication nodes, and granting at least one of the first and second master communication nodes an additional transmission opportunity for the earlier sequence of the delayed sequence of the cycle.

[0018] For example, the transmitting step may optionally include granting at least one of the first and second master communication nodes an additional transmission opportunity for the last sequence of the cycle, depending on the result of the data transmission amount monitoring.

[0019] For example, the transmitting step may include at least one of the first and second master communication nodes checking the amount of data transmitted by a data transmission request received from at least one of the plurality of communication nodes and monitoring the amount of data transmitted by at least one of the plurality of communication nodes.

[0020] For example, the transmitting step may include at least one of the first and second master communication nodes monitoring the total data transmission amount of the plurality of communication nodes.

[0021] For example, the transmitting step may include at least one of the first and second master communication nodes monitoring the amount of data transmitted in a previous cycle of at least one of the plurality of communication nodes, and optionally granting at least one of the first and second master communication nodes more opportunities to transmit in a subsequent cycle than the previous cycle based on the result of monitoring the amount of data transmitted.

[0022] A vehicle according to one embodiment of the present invention comprises a computer device having a processor and a storage medium having one or more programs configured to be executable by said processor, and said one or more programs may include instructions for executing a data collision prevention communication control method within said domain.

[0023] A storage medium according to one embodiment of the present invention can record one or more programs including instructions for executing a communication control method for preventing data collisions within the domain.

[0024] A communication control device for preventing data collisions within a domain according to one embodiment of the present invention comprises: a first master communication node that sequentially grants transmission opportunities to a plurality of first communication nodes connected to a first domain in a sequence every period; and a second master communication node that sequentially grants transmission opportunities to a plurality of second communication nodes connected to a second domain in a sequence every period; wherein the first master communication node receives data from at least one of the plurality of first communication nodes and transmits the data to the second master communication node, and the second master communication node transmits the data to at least one of the plurality of second communication nodes during the transmission opportunity, and at least one of the first and second master communication nodes monitors the data transmission amount of at least one of the plurality of first communication nodes and, depending on the result of the data transmission amount monitoring, may selectively grant additional transmission opportunities to the second master communication node.

[0025] For example, the first master communication node receives an Ethernet message containing data from at least one of the plurality of first communication nodes and transmits it to the second master communication node, and the second master communication node can transmit an Ethernet message containing data to at least one of the plurality of second communication nodes.

[0026] For example, the first and second master communication nodes transmit the data between the first and second domains without being limited to the transmission opportunities of the first and second master communication nodes, and the plurality of first communication nodes are restricted from transmitting data to the plurality of second communication nodes by bypassing the first and second master communication nodes, and the plurality of second communication nodes may be restricted from transmitting data to the plurality of first communication nodes by bypassing the first and second master communication nodes.

[0027] For example, the first master communication node transmits a beacon signal to the plurality of first communication nodes every period, and the second master communication node transmits a beacon signal to the plurality of second communication nodes every period, and at least one of the first and second master communication nodes may selectively transmit a sequence setting message to at least some of the plurality of second communication nodes to delay the transmission opportunity sequence of at least some of the plurality of second communication nodes according to the result of the data transmission amount monitoring, and may grant the second master communication node an additional transmission opportunity for the earlier sequence of the delayed sequence of the period.

[0028] For example, the first master communication node transmits a beacon signal to the plurality of first communication nodes every period, and the second master communication node transmits a beacon signal to the plurality of second communication nodes every period, and at least one of the first and second master communication nodes may optionally grant the second master communication node an additional transmission opportunity for the last sequence of the period according to the result of monitoring the data transmission amount.

[0029] For example, at least one of the first and second master communication nodes can monitor the data transmission amount of at least one of the plurality of first communication nodes by checking the data transmission amount of a data transmission request received from at least one of the plurality of first communication nodes.

[0030] A vehicle according to one embodiment of the present invention may include a data collision prevention communication control device within the domain. Effects of the invention

[0032] A communication control method and apparatus for preventing data collision within a domain according to one embodiment of the present invention, and a vehicle and a storage medium including the same, can prevent data collision within a domain while reducing communication delay time (e.g., TIME_DIFF of FIG. 4). Brief explanation of the drawing

[0034] FIG. 1 is a drawing showing a communication control device for preventing data collisions within a domain, a vehicle, and a storage medium according to an embodiment of the present invention. FIG. 2a is a diagram showing a communication control device and method for preventing data collision within a domain according to an embodiment of the present invention when the amount of data transmitted by a communication node is low (no initial transmission opportunity sequence of the master communication node). FIG. 2b is a diagram showing a communication control device and method for preventing data collision within a domain according to an embodiment of the present invention when the amount of data transmitted by a communication node is large (no change in the transmission opportunity sequence of the communication node). FIG. 3a is a diagram showing a communication control device and method for preventing data collision within a domain according to an embodiment of the present invention when the amount of data transmitted by a communication node is low (there is an initial transmission opportunity sequence of the master communication node). FIG. 3b is a diagram showing a communication control device and method for preventing data collision within a domain according to an embodiment of the present invention when the amount of data transmitted by a communication node is large (there is a change in the transmission opportunity sequence of the communication node). FIG. 4 is a time flow diagram showing the reduction in communication delay time due to the addition of a transmission opportunity of a master communication node in a domain-in-domain data collision prevention communication control device and method according to one embodiment of the present invention. FIG. 5 is a flowchart illustrating a communication control method for preventing data collisions within a domain (no change in the transmission opportunity sequence of a communication node) according to an embodiment of the present invention. FIG. 6 is a flowchart illustrating a communication control method for preventing data collisions within a domain (with a change in the transmission opportunity sequence of a communication node) according to an embodiment of the present invention. Specific details for implementing the invention

[0035] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0036] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0037] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0038] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0039] In this specification, a vehicle (including an electric vehicle) refers to various vehicles that transport a transported object, such as a person, animal, or object, from a place of origin to a destination. Such vehicles are not limited to vehicles that travel on roads or railways.

[0040] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings.

[0042] Referring to FIG. 1, a vehicle (11) according to one embodiment of the present invention may include a first master communication node (14) and / or a plurality of first communication nodes (15-1, 15-n) connected to a first domain (BUS1), and may include a second master communication node (24) and / or a plurality of second communication nodes (25-1, 25-n) connected to a second domain (BUS2). Depending on the design, the number of domains may be two or more.

[0043] For example, each of the first and second master communication nodes (14, 24) and the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) may be implemented as an electronic control module that collects, provides, and transmits information necessary for driving, information required during driving, or information to enhance driving safety to a user, driver, or passenger, and may include information collection devices such as sensors and cameras, as well as information processing devices capable of generating and processing new information by performing calculations according to pre-set programs and functions based on the collected information.

[0044] For example, each of the first and second master communication nodes (14, 24) and the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) can be implemented as an electronic control unit (ECU) that controls various devices included in the vehicle, and the ECU can be implemented as an ECU that controls infotainment devices (e.g., display devices, navigation devices, around view monitoring devices), and can also be implemented as an engine control unit, transmission control unit, EMS ECU (Engine Management System Electronic Control Unit), TMS ECU (Transmission Management System Electronic Control Unit), airbag control module (ACU), ABS ECU (Anti-locking Brake System Electronic Control Unit), instrumentation, and driver information module.

[0045] Depending on the design, at least some of the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) may be outside the vehicle (11) (e.g., telematics, OBD (On-Board Diagnostics)) and may include relay communication nodes between the outside and inside of the vehicle (11), such as a gateway.

[0046] Each of the first master communication node (14) and the plurality of first communication nodes (15-1, 15-n) can transmit (e.g., a message according to Ethernet containing data) through the first domain (BUS1) and receive (e.g., a broadcast transmission where the recipient is not specified), and each of the second master communication node (24) and the plurality of second communication nodes (25-1, 25-n) can transmit (e.g., a message according to Ethernet containing data) through the second domain (BUS2) and receive (e.g., a broadcast transmission where the recipient is not specified). For example, Ethernet may have a bandwidth of 10M bps (bit per second), but is not limited thereto.

[0047] A message transmitted by one of the multiple first communication nodes (15-1, 15-n) connected to the first domain (BUS1) can be easily received by the others, and a message transmitted by one of the multiple second communication nodes (25-1, 25-n) connected to the second domain (BUS2) can be easily received by the others. For example, the first domain (BUS1) can be implemented as a first bus channel shared by the first master communication node (14) and multiple first communication nodes (15-1, 15-n), and the second domain (BUS2) can be implemented as a second bus channel shared by the second master communication node (24) and multiple second communication nodes (25-1, 25-n).

[0048] The first domain (BUS1) and the second domain (BUS2) can be isolated from each other, and a plurality of first communication nodes (15-1, 15-n) can transmit (and / or receive) data to a plurality of second communication nodes (25-1, 25-n) through first and second master communication nodes (14, 24), and a plurality of second communication nodes (25-1, 25-n) can transmit (and / or receive) data to a plurality of first communication nodes (15-1, 15-n) through first and second master communication nodes (14, 24). For example, a plurality of first communication nodes (15-1, 15-n) may be restricted from transmitting data to a plurality of second communication nodes (25-1, 25-n) by bypassing the first and second master communication nodes (14, 24) (e.g., no direct connection channel), and a plurality of second communication nodes (25-1, 25-n) may be restricted from transmitting data to a plurality of first communication nodes (15-1, 15-n) by bypassing the first and second master communication nodes (14, 24) (e.g., no direct connection channel).

[0049] Compared to the case where multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n) are connected to a single domain, a structure in which multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n) are divided and connected to first and second domains (BUS1, BUS2) may be advantageous for further simplifying the overall channel connection structure between multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n). For example, the channel between multiple first communication nodes (15-1, 15-n) and the second master communication node (24) may be omitted, and the channel between multiple second communication nodes (25-1, 25-n) and the first master communication node (14) may be omitted, so the overall channel connection structure may be further simplified.

[0051] Referring to FIG. 1, FIG. 2a, FIG. 2b and FIG. 5, a communication control method for preventing data collision within a domain according to an embodiment of the present invention may include a step (S110) in which one of the first and second master communication nodes (14, 24) each connected to the first and second domains (BUS1, BUS2) sequentially grants transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) to a plurality of communication nodes (15-1, 15-n, 25-1, 25-n) connected to the one connected to the first and second domains (BUS1, BUS2) in order every one period (PD1). A communication control device for preventing data collisions within a domain according to one embodiment of the present invention may include a first master communication node (14) that sequentially grants transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) to a plurality of first communication nodes (15-1, 15-n) connected to a first domain (BUS1) in order every period (PD1), and may include a second master communication node (24) that sequentially grants transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) to a plurality of second communication nodes (25-1, 25-n) connected to a second domain (BUS2) in order every period (PD1).

[0052] Accordingly, data transmissions of multiple first communication nodes (15-1, 15-n) can be prevented from colliding in the first domain (BUS1), and data transmissions of multiple second communication nodes (25-1, 25-n) can be prevented from colliding in the second domain (BUS2). For example, if multiple data transmissions collide with each other, at least one of the multiple data transmissions may cause a reception error.

[0053] For example, the first and second communication nodes (15-1, 25-1) assigned a first sequence number can transmit data to the first and second domains (BUS1, BUS2) only when the first transmission opportunity (PLCA1) is granted, the first and second communication nodes (15-2, 25-2) assigned a second sequence number can transmit data to the first and second domains (BUS1, BUS2) only when the second transmission opportunity (PLCA2) is granted, the first and second communication nodes (15-3, 25-3) assigned a third sequence number can transmit data to the first and second domains (BUS1, BUS2) only when the third transmission opportunity (PLCA3) is granted, and the first and second communication nodes (15-4, 25-4) assigned a fourth sequence number can transmit data to the first and second domains (BUS1, ) only when the fourth transmission opportunity (PLCA4) is granted Data can be transmitted via BUS2).

[0054] The more the number of multiple first communication nodes (15-1, 15-n) connected to the first domain (BUS1), the longer the period (PD1) of the first domain (BUS1). The more the number of multiple second communication nodes (25-1, 25-n) connected to the second domain (BUS2), the longer the period (PD1) of the second domain (BUS2). Depending on the design, the number of multiple first communication nodes (15-1, 15-n) and the number of multiple second communication nodes (25-1, 25-n) may differ from each other.

[0055] Compared to the case where multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n) are connected to a single domain, the period (PD1) of a structure in which multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n) are divided and connected to first and second domains (BUS1, BUS2) (a structure in which the overall channel connection structure is more simplified) may be relatively short, and each of the multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n) may be granted transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) more frequently (and / or for longer). Accordingly, the overall communication time of the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) can be shortened, and the amount of data transmitted per unit time of the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) can be increased.

[0056] A communication control method for preventing data collision within a domain according to one embodiment of the present invention may include the step (S120) in which one of the first and second master communication nodes (14, 24) receives data (e.g., a message via Ethernet containing data) from at least one of the plurality of communication nodes (15-1, 15-n, 25-1, 25-n) (e.g., the first communication node (15-2)), transmits data (e.g., a message via Ethernet containing data) between the first and second domains (BUS1, BUS2) (S222 in FIG. 6), and transmits data (e.g., a message via Ethernet containing data) within the domain to which at least one of the first and second master communication nodes (14, 24) is connected at a transmission opportunity (TO) (S124) (S226 in FIG. 6). The first master communication node (14) receives data (e.g., a message via Ethernet containing data) from at least one of a plurality of first communication nodes (15-1, 15-n), transmits the data (e.g., a message via Ethernet containing data) to the second master communication node (24), and the second master communication node (24) can transmit the data (e.g., a message via Ethernet containing data) to at least one of a plurality of second communication nodes (25-1, 25-n) at a transmission opportunity (TO).

[0057] For example, routing data between the first and second domains (BUS1, BUS2) may include peer-to-peer routing and routing through a channel separated from the first and second domains (BUS1, BUS2). In the step of transmitting (S120), one of the first and second master communication nodes (14, 24) may include routing data between the first and second domains (BUS1, BUS2) (S222 in FIG. 6) without being limited to the transmission opportunity (TO) of the first and second master communication nodes (14, 24). The first and second master communication nodes (14, 24) can route data between the first and second domains (BUS1, BUS2) without being limited to the transmission opportunities (TO) of the first and second master communication nodes (14, 24). For example, one of the first and second master communication nodes (14, 24) can route data between the first and second domains (BUS1, BUS2) immediately after receiving data from at least one of the plurality of communication nodes (15-1, 15-n, 25-1, 25-n) (e.g., the first communication node (15-2)) (or at the earliest possible time to start transmission).

[0058] For example, the first master communication node (14) can transmit beacon signals (BC1, BC2) to a plurality of first communication nodes (15-1, 15-n) through the first domain (BUS1), and the second master communication node (24) can transmit beacon signals (BC1, BC2) to a plurality of second communication nodes (25-1, 25-n) through the second domain (BUS2). The time from when the beacon signals (BC1, BC2) are transmitted until the start time of the first transmission opportunity (PLCA1) may be the time when the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) do not receive the transmission opportunity (PLCA1, PLCA2, PLCA3, PLCA4), and thus can be utilized as the transmission opportunity (TO) of the first and second master communication nodes (14, 24). Accordingly, during the time from when the beacon signal (BC1, BC2) is transmitted until the start of the first transmission opportunity (PLCA1) (e.g., default transmission opportunity), the first and second master communication nodes (14, 24) transmit the data transmitted between the first and second master communication nodes (14, 24) to the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n), thereby preventing data transmission collisions among the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n).

[0059] The longer the time difference between the time when one of the first and second master communication nodes (14, 24) receives data and the transmission opportunity (TO) of the first and second master communication nodes (14, 24), the longer the total communication time may be. The more (or more frequently) the first and second master communication nodes (14, 24) receive transmission opportunities (TO), the longer the time difference (and the total communication time) may be, but the cycle (PD1) may be longer, and the time each of the multiple first and second communication nodes (15-1, 15-n, 25-1, 25-n) waits to receive transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) may be longer.

[0060] The transmission step (S120) may include monitoring (S121) the data transmission amount (e.g., the packet amount of data or the frame length / number / bit count of data, etc.) of at least one of the plurality of communication nodes (15-1, 15-n, 25-1, 25-n), and selectively (S122) granting an additional transmission opportunity (e.g., PLCA3 of FIG. 2b) to at least one of the first and second master communication nodes (14, 24) according to the result of the data transmission amount monitoring (S123). At least one of the first and second master communication nodes (14, 24) may monitor the data transmission amount of at least one of the plurality of first communication nodes (15-1, 15-n) and selectively and / or dynamically grant an additional transmission opportunity (e.g., PLCA3 of FIG. 2b) to the second master communication node (24) according to the result of the data transmission amount monitoring.

[0061] The greater the amount of data transmitted by at least one of the multiple communication nodes (15-1, 15-n, 25-1, 25-n) (e.g., the first communication node (15-2)), the longer the time difference (and the total communication time) may be. Accordingly, if the amount of data transmitted is greater than the standard, at least one of the first and second master communication nodes (14, 24) can effectively reduce the time difference (and the total communication time) and reduce the communication delay time by granting at least one of the first and second master communication nodes (14, 24) a transmission opportunity (e.g., PLCA3 in FIG. 2b).

[0062] When the above data transmission amount is less than the standard, the efficiency of reducing the time difference (and the total communication time) by granting more transmission opportunities (e.g., PLCA3 in FIG. 2b) may be relatively lower. Therefore, when the above data transmission amount is less than the standard, at least one of the first and second master communication nodes (14, 24) can reduce unnecessary extension of the cycle (PD1) by using only the default transmission opportunity without granting more transmission opportunities (e.g., PLCA3 in FIG. 2b) to at least one of the first and second master communication nodes (14, 24), and can reduce the waiting time for each of the plurality of first and second communication nodes (15-1, 15-n, 25-1, 25-n) to receive transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) and reduce communication delay time.

[0064] Referring to FIGS. 2A, 2B, and FIG. 6, in the transmitting step (S220), at least one of the first and second master communication nodes (14, 24) selectively (S223) transmits (S225) a sequence setting message to at least some of the plurality of communication nodes (e.g., 15-3, 15-4, 25-3, 25-4) to delay the transmission opportunity sequence of at least some of the plurality of communication nodes (e.g., 15-3, 15-4, 25-3, 25-4) (e.g., delaying from PLCA3-PLCA4 to PLCA4-PLCA5) according to the result of monitoring the data transmission amount, and transmits to at least one of the first and second master communication nodes (14, 24) the earlier transmission opportunity of the delayed sequence of one period (PD1) (e.g., FIG. You can grant additional PLCA3) of 2b (S224).

[0065] Accordingly, the start time of the transmission opportunity (e.g., PLCA3 in FIG. 2b) additionally granted to the first and second master communication nodes (14, 24) can be set more flexibly, so that the communication delay time can be further reduced. After the sequence is reset, at least one of the first and second master communication nodes (14, 24) can transmit (S226) data (e.g., data transmitted (S222) between the first and second master communication nodes (14, 24)) within the first and second domains (BUS1, BUS2) during the transmission opportunity.

[0066] For example, in the granting step (S210), a plurality of communication nodes (15-1, 15-n, 25-1, 25-n) may receive identification data for each of the plurality of communication nodes (15-1, 15-n, 25-1, 25-n) in advance (e.g., initial setting), and the first and second master communication nodes (14, 24) may receive beacon signals (BC1, BC2) transmitted (S211) through the first and second domains (BUS1, BUS2) to the transmission opportunity (TO), and may determine that the time immediately after waiting for a time length equal to the time length of the transmission opportunity (TO) multiplied by their own sequence number from the time of receiving the beacon signals (BC1, BC2) is their own transmission opportunity, and may set the transmission opportunities (PLCA1, PLCA2, PLCA3, PLCA4) accordingly (S212).

[0067] For example, in the granting step (S210), at least one of the first and second master communication nodes (14, 24) can transmit a sequence setting message along with a beacon signal (BC1, BC2) to a plurality of communication nodes (15-1, 15-n, 25-1, 25-n) (S211). At least some of the multiple communication nodes (15-1, 15-n, 25-1, 25-n) (e.g., 15-3, 15-4, 25-3, 25-4) can change their sequence number according to sequence change data included in a sequence setting message, and can determine that their changed transmission opportunity is immediately after waiting for a time length equal to the time length of the transmission opportunity (TO) multiplied by their changed sequence number from the time they received the beacon signal (BC1, BC2), and can set the transmission opportunity (PLCA1, PLCA2, PLCA4, PLCA5) accordingly (S212).

[0068] Referring to FIGS. 3a, FIGS. 3b and FIGS. 5, in the transmission step (S120), at least one of the first and second master communication nodes (14, 24) may optionally (S122) grant at least one of the first and second master communication nodes (14, 24) an additional transmission opportunity (PLCA5 in FIG. 3b) for the last sequence of one cycle (PD1) (S123).

[0069] Accordingly, the first and second master communication nodes (14, 24) can omit retransmitting sequence setting messages to multiple communication nodes (15-1, 15-n, 25-1, 25-n) while granting their own transmission opportunities (PLCA5 in FIG. 3b), thereby improving the overall transmission schedule stability of the first and second domains (BUS1, BUS2).

[0070] Depending on the design, the initial transmission opportunity (TO) of the first and second master communication nodes (14, 24) may be set to a time later than the time from when the beacon signal (BC1, BC2) was transmitted until the start time of the first transmission opportunity (PLCA1) (e.g., PLCA1), or may be set to a time later than the transmission opportunity (PLCA0) of some communication nodes (15-1, 25-1) (e.g., PLCA1). Here, the last sequence of transmission opportunities (PLCA5 in FIG. 3b) further granted to the first and second master communication nodes (14, 24) may be effective because it is granted together with the initial transmission opportunity (TO) of the later time (e.g., PLCA1).

[0072] Referring to FIG. 2a, FIG. 2b and FIG. 6, in the transmission step (S220), at least one of the first and second master communication nodes (14, 24) can monitor the data transmission amount (S223) of at least one of the multiple communication nodes (15-1, 15-n, 25-1, 25-n) (e.g., first communication node (15-2)) by checking the data transmission amount (e.g., amount of packets of data or length / number / bits of frames of data, etc.) of a data transmission request received (S221) from at least one of the multiple communication nodes (e.g., first communication node (15-2)). Accordingly, the first and second master communication nodes (14, 24) can dynamically monitor the data transmission amount.

[0073] Depending on the design, at least one of the first and second master communication nodes (14, 24) may monitor the total data transmission amount of a plurality of communication nodes (15-1, 15-n, 25-1, 25-n). Since each of the first and second domains (BUS1, BUS2) may be shared with all connected communication nodes, it may also be possible to monitor the data transmission amount that is transmitted only within the first and second domains (BUS1, BUS2) and not transmitted between the first and second master communication nodes (14, 24). For example, the total data transmission amount may include the data transmission amount that is transmitted only within the first and second domains (BUS1, BUS2) and not transmitted between the first and second master communication nodes (14, 24). For example, a message according to Ethernet containing data may include identification data of the communication node that transmitted the message, and the first and second master communication nodes (14, 24) may monitor the total data transmission amount of each of the plurality of communication nodes (15-1, 15-n, 25-1, 25-n) by verifying the identification data.

[0074] According to the design, at least one of the first and second master communication nodes (14, 24) monitors the amount of data transmitted in a previous period (e.g., time from BC1 to BC2) of at least one of the multiple communication nodes (15-1, 15-n, 25-1, 25-n), and, depending on the result of monitoring the amount of data transmitted, may optionally grant at least one of the first and second master communication nodes (14, 24) more transmission opportunities in a subsequent period (e.g., time after BC2) than in a previous period (e.g., time from BC1 to BC2). That is, the first and second master communication nodes (14, 24) may adaptively receive transmission opportunities in response to the overall trend of data transmission volume changes of the multiple communication nodes (15-1, 15-n, 25-1, 25-n), and can effectively prevent communication delay times from becoming longer due to large changes in the amount of data transmitted.

[0076] FIG. 4 assumes that the beacon signals (BC1-1, BC2-1) of the first domain and the beacon signals (BC1-2, BC2-2, BC3-2) of the second domain are not synchronized with each other. Referring to FIG. 4, even if the first communication node (15-n) generates data (Data Frame) to be transmitted from the time it receives the beacon signal (BC2-1), it can transmit data (Data TX Frame) after waiting until the transmission opportunity (PLCA4) of the first communication node (15-n).

[0077] The first master communication node (14) can immediately transmit the data (Data TX Frame) received from the first communication node (15-n) to the second master communication node (24). The time at which the second master communication node (24) receives the data (Data TX Frame) may be after the time of the first transmission opportunity, beyond the time of transmitting the beacon signal (BC2-2). At this time, since the second master communication node (24) can receive additional transmission opportunities (PLCA3), it can transmit the data (Data TX Frame) to the second communication node (25-n) during the transmission opportunity (PLCA3).

[0078] The communication time (COMM_TIME) can be defined as the time from when the first communication node (15-n) generates data (Data Frame) to be transmitted until when the second master communication node (24) transmits data (Data TX Frame). If the second master communication node (24) does not receive an additional transmission opportunity (PLCA3), the second master communication node (24) will transmit data at the initial transmission opportunity corresponding to the time when the beacon signal (BC3-2) was transmitted, and will cause further communication delay time (TIME_DIFF). However, the communication control method and apparatus for preventing data collision within a domain according to an embodiment of the present invention can prevent the occurrence of communication delay time (TIME_DIFF) and reduce the communication time (COMM_TIME).

[0080] Meanwhile, referring to FIG. 1, a vehicle (11) according to one embodiment of the present invention comprises a computer device (500) having a processor (501) and a storage medium (502) that records one or more programs (502a) configured to be executable by the processor (501), and one or more programs (502a) may include instructions for executing a communication control method for preventing data collisions within a domain according to one embodiment of the present invention.

[0081] A computer device (500) may include at least one processor (501), a computer-readable storage medium (502), and a communication bus (503). The communication bus (503) may interconnect various other components of the computer device (500), including the processor (501) and the computer-readable storage medium (502). For example, the computer device (500) may be implemented as a microcontroller.

[0082] The processor (501) can cause the computer device (500) to operate according to the exemplary embodiment described above. For example, the processor (501) can execute one or more programs stored in a computer-readable storage medium (502). The one or more programs may include one or more computer-executable instructions, and the computer-executable instructions may be configured to cause the computer device (500) to perform operations according to the exemplary embodiment when executed by the processor (501).

[0083] A computer-readable storage medium (502) may be configured to store computer-executable instructions or program code, program data and / or other suitable forms of information. A program (502a) stored in the computer-readable storage medium (502) includes a set of instructions executable by a processor (501). In one embodiment, the computer-readable storage medium (502) may be memory (volatile memory such as random access memory, non-volatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, other forms of storage media that are accessed by a computer device (500) and capable of storing desired information, or a suitable combination thereof.

[0084] The computer device (500) may also include one or more input / output interfaces (505) and one or more network communication interfaces (506) that provide interfaces for one or more input / output devices (504). The input / output interfaces (505) and network communication interfaces (506) are connected to a communication bus (503). The network may be any one of a cellular network, such as GSM (Global System for Mobile Communications), EDGE (Enhanced Data Rates for GSM Evolution), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), Time Division-CDMA (TD-CDMA), UMTS (Universal Mobile Telecommunications System), LTE (Long Term Evolution), 5G, Wi-Fi, or other cellular networks, and may also be implemented as Ethernet, MOST (Media Oriented Systems Transport), Flexray, CAN (Controller Area Network), LIN (Local Interconnect Network), Internet, Bluetooth, NFC (Near Field Communication), Zigbee, RF (Radio Frequency), etc.

[0085] An input / output device (504) may be connected to other components of a computer device (500) through an input / output interface (505). An exemplary input / output device (504) may include input devices such as a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touchpad or touchscreen), a voice or sound input device, various types of sensor devices and / or imaging devices, and / or output devices such as a display device, a printer, a speaker and / or a network card. An exemplary input / output device (504) may be included inside the computer device (500) as a component constituting the computer device (500), or it may be connected to the computer device (500) as a separate device distinct from the computer device (500).

[0086] Meanwhile, embodiments of the present invention may include a program for performing the methods described herein on a computer, and a computer-readable recording medium containing said program. The computer-readable recording medium may include program instructions, local data files, local data structures, etc., either alone or in combination. The medium may be one specifically designed and configured for the present invention, or one that is commonly available in the field of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of said programs may include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0087] Although the invention has been described with reference to the above embodiments, those skilled in the art will understand that various modifications and changes can be made to the invention without departing from the spirit and scope of the invention as described in the following claims. Explanation of the symbols

[0089] 11: Vehicle 14: 1st Master Communication Node 15-1, 15-n: (1st) communication node 24: Second Master Communication Node 25-1, 25-n: (2nd) Communication Node BUS1: First domain BUS2: Second domain Data: Data PD1: One cycle PLCA1, PLCA2, PLCA3, PLCA4: Transmission opportunity (of the corresponding sequence number) TO: (Initial) Transmission Opportunity of the 1st and 2nd Master Communication Nodes

Claims

Claim 1 A method for preventing data collisions within a domain, comprising: a step in which one of a first and second master communication node, each connected to a first and second domain, sequentially grants a transmission opportunity to a plurality of communication nodes connected to one of the first and second domains in a sequence at a daily interval; and a step in which one of the first and second master communication nodes receives data from at least one of the plurality of communication nodes, transmits the data between the first and second domains, and transmits the data within the domain connected to at least one of the first and second master communication nodes during the transmission opportunity; wherein the transmission step comprises monitoring the data transmission amount of at least one of the plurality of communication nodes and, selectively based on the result of monitoring the data transmission amount, further granting a transmission opportunity to at least one of the first and second master communication nodes. Claim 2 A method for preventing data collision within a domain, wherein, in the transmitting step, one of the first and second master communication nodes transmits the data between the first and second domains without being limited to the transmission opportunities of the first and second master communication nodes. Claim 3 In paragraph 2, in the transmitting step, the plurality of communication nodes transmit data outside one of the first and second domains linked by bypassing the first and second master communication nodes, a method for preventing data collision within a restricted domain communication control. Claim 4 A method for preventing data collision within a domain, wherein the transmitting step comprises receiving a message according to Ethernet containing the data from at least one of the plurality of communication nodes, transmitting the message according to Ethernet containing the data between the first and second domains, and transmitting the message according to Ethernet containing the data within the domain to which at least one of the first and second master communication nodes is connected during the transmission opportunity. Claim 5 In claim 4, the granting step comprises one of the first and second master communication nodes transmitting a beacon signal to the plurality of communication nodes every one period, in a domain-based data collision prevention communication control method. Claim 6 A method for preventing data collisions within a domain, wherein the transmitting step comprises, in accordance with the result of monitoring the data transmission volume, selectively transmitting a sequence setting message to at least some of the plurality of communication nodes to delay the transmission opportunity sequence of at least some of the plurality of communication nodes, and further granting at least one of the first and second master communication nodes an earlier transmission opportunity of the delayed sequence of the one cycle. Claim 7 A method for preventing data collisions within a domain, wherein the transmitting step comprises, optionally, granting at least one of the first and second master communication nodes an additional transmission opportunity for the last sequence of the cycle according to the result of monitoring the data transmission amount. Claim 8 A communication control method for preventing data collisions within a domain, wherein the transmitting step comprises: at least one of the first and second master communication nodes checking the amount of data transmission of a data transmission request received from at least one of the plurality of communication nodes and monitoring the amount of data transmission of at least one of the plurality of communication nodes. Claim 9 A communication control method for preventing data collisions within a domain, wherein the transmitting step comprises at least one of the first and second master communication nodes monitoring the total amount of data transmitted by the plurality of communication nodes. Claim 10 A method for preventing data collisions within a domain, wherein the transmitting step comprises: at least one of the first and second master communication nodes monitoring the amount of data transmitted in a previous cycle of at least one of the plurality of communication nodes, and, depending on the result of the data transmission amount monitoring, selectively granting at least one of the first and second master communication nodes more opportunities to transmit in a subsequent cycle than the previous cycle. Claim 11 A vehicle comprising a computer device having a processor and a storage medium storing one or more programs configured to be executable by said processor, wherein the one or more programs include instructions for executing a data collision prevention communication control method within a domain of claim 1. Claim 12 A storage medium storing one or more programs including instructions for executing a communication control method for preventing data collisions within a domain according to claim 1. Claim 13 A domain-in-domain data collision prevention communication control device comprising: a first master communication node that sequentially grants transmission opportunities to a plurality of first communication nodes connected to a first domain in a sequence every period; and a second master communication node that sequentially grants transmission opportunities to a plurality of second communication nodes connected to a second domain in a sequence every period; wherein the first master communication node receives data from at least one of the plurality of first communication nodes and transmits the data to the second master communication node, and the second master communication node transmits the data to at least one of the plurality of second communication nodes during the transmission opportunity, and at least one of the first and second master communication nodes monitors the data transmission amount of at least one of the plurality of first communication nodes and, depending on the result of the data transmission amount monitoring, selectively grants additional transmission opportunities to the second master communication node. Claim 14 A domain-in-domain data collision prevention communication control device according to claim 13, wherein the first master communication node receives a message according to Ethernet containing data from at least one of the plurality of first communication nodes and transmits it to the second master communication node, and the second master communication node transmits a message according to Ethernet containing data to at least one of the plurality of second communication nodes. Claim 15 A data collision prevention communication control device within a domain, wherein the first and second master communication nodes transmit data between the first and second domains without being limited to the transmission opportunities of the first and second master communication nodes, the plurality of first communication nodes are restricted from transmitting data to the plurality of second communication nodes by bypassing the first and second master communication nodes, and the plurality of second communication nodes are restricted from transmitting data to the plurality of first communication nodes by bypassing the first and second master communication nodes. Claim 16 A data collision prevention communication control device within a domain, wherein, in claim 14, the first master communication node transmits a beacon signal to the plurality of first communication nodes every period, the second master communication node transmits a beacon signal to the plurality of second communication nodes every period, and at least one of the first and second master communication nodes selectively transmits a sequence setting message to at least some of the plurality of second communication nodes to delay the transmission opportunity sequence of at least some of the plurality of second communication nodes according to the data transmission amount monitoring result, and grants the second master communication node an additional transmission opportunity for the earlier sequence of the delayed sequence of the period. Claim 17 A data collision prevention communication control device within a domain, wherein, in claim 14, the first master communication node transmits a beacon signal to the plurality of first communication nodes every period, the second master communication node transmits a beacon signal to the plurality of second communication nodes every period, and at least one of the first and second master communication nodes selectively grants the second master communication node an additional transmission opportunity for the last sequence of the period according to the result of monitoring the data transmission amount. Claim 18 In claim 14, at least one of the first and second master communication nodes is a domain-in-domain data collision prevention communication control device that monitors the data transmission amount of at least one of the plurality of first communication nodes by confirming the data transmission amount of a data transmission request received from at least one of the plurality of first communication nodes. Claim 19 A vehicle including a data collision prevention communication control device within the domain of Clause 13.

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