DYNAMIC ROUTING DEVICE AND METHOD FOR CAN MESSAGE FROM VEHICLE

Abstract

Dynamic routing device for a CAN, Controller Area Network, message of a vehicle, comprising a gateway controller (300) including a message reception unit (310) and a message reception filter (340), characterized in that: the message receiving unit (310) is configured to receive a message of a specific ID sent from a source controller and a designated specific message from at least one destination controller; the message reception filter (340) is configured to change dynamically based on at least one piece of information contained in the specific message; and the gateway controller (300) is configured to generate a dynamic routing table (330) based on information about the specific message, check the reception of a message with respect to only a message ID set on the message reception filter (340), and perform message routing to a destination controller designated in the dynamic routing table (330).

Description

BACKGROUND OF THE INVENTION

[0001] The present invention relates to a dynamic routing apparatus and method for a CAN (Controller Area Network) message of a vehicle, and more particularly to a dynamic routing apparatus and method for a CAN message of a vehicle capable of actively performing message routing by detecting a state change of a source controller and a destination controller during a vehicle operation based on dynamic routing table information.

[0002] Generally, various electronic devices are used for vehicle propulsion and various types of in-vehicle convenience. Recently, electronic devices have increased in in-vehicle devices and information sharing devices to maximize user convenience and maintain stability.

[0003] The amount of data used by the electronic devices for the vehicle is continuously increasing and as data becomes more and more diverse, a data processing method becomes an important task.

[0004] On the other hand, as the number of communication controllers mounted on vehicles increases, not all controllers can be connected to a single CAN communication network. Therefore, the communication controllers form individual CAN networks according to the domains (i.e., networks) to which the communication controllers belong. To perform communication between communication controllers belonging to different domains, there is a need for a gateway controller for sending and receiving (i.e., message routing) messages (i.e., a CAN message, hereinafter simply referred to as a message) between different physical CAN channels.

[0005] As in Fig. 1, a gateway controller 200 performs message routing based on a routing database 100. That is, a routing table is generated based on the routing database 100, and a source controller and a destination controller are predefined for each message. Therefore, when a message (i.e., a CAN message) is received from the source controller via a message receiving unit 210, the gateway controller sends the message (i.e., the CAN message) to the destination controller (or a channel to which the destination controller belongs) via a message sending unit 320.

[0006] However, as the number of communication controllers (hereinafter, a communication controller on a message sending side is referred to as a source controller, and a communication controller on a message receiving side is referred to as a destination controller) increases, the number of communication channels managed by the gateway controller also increases. Therefore, the bus load for each channel and the load of the gateway controller itself also increase.

[0007] Therefore, when a communication environment changes during operation, the current routing method (ie, a static message routing method based on a routing database) has the problem of decreasing efficiency. Furthermore, the current routing method has the problem of being difficult to accommodate dynamic network environment changes based on Ethernet and partial networking.

[0008] The prior art of the present invention is disclosed in Korean Patent No. 10-1608356 (registered on March 28, 2016) entitled “Gateway communication apparatus and method”).

[0009] US 2010 / 0098095 A1 discloses a routing method and an in-vehicle gateway device having a plurality of communication interfaces, enabling automatic adjustment of the routing function, taking into account the characteristics of the data processed by a connection network. A network is classified into an information system, a control system, and a security system based on its characteristics, and which of the systems a network connected to the in-vehicle gateway device comprises is judged based on the devices connected to the network or the network's data traffic. Further processing of data exchange between different classifications is determined in advance. SHORT SUMMARY

[0010] Embodiments of the present invention are directed to a dynamic routing apparatus and method for a CAN message of a vehicle, which can actively perform message routing by detecting a state change of a source controller and a destination controller based on dynamic routing table information during operation of the vehicle.

[0011] According to the above embodiments, it is an object of the invention to reduce the load of the bus and the gateway controller itself and to take into account a dynamic network environment change.

[0012] In one embodiment, a dynamic routing device for a CAN message of a vehicle may include: a message receiving unit configured to receive a message of a specific ID sent from a source controller and a designated specific message from the at least one destination controller; a message receiving filter configured to dynamically change based on at least one piece of information included in the specific message;and a gateway controller including the message receiving unit and the message receiving filter, wherein the gateway controller is configured to generate dynamic routing table information based on information about the specific message, check reception of a message with respect to only a message ID set on the message receiving filter, and perform message routing to a destination controller designated in the dynamic routing table.;

[0013] The gateway controller may be configured to dynamically change a message routing setting based on a routing request from a target controller and a current state of the target controller.

[0014] The designated specific message received from the target controller may include: a first specific message in which the target controller requests or does not request routing from the gateway controller with respect to the specific ID; and a second specific message periodically sent to the gateway controller while the target controller is in an operating state.

[0015] The first specific message may include: a command region for recording an add or remove command; a message count region for recording a count to be incremented or decremented; and a message ID region for recording a message ID requesting a routing request or a non-routing request.

[0016] The gateway controller may be configured to: determine that the target controller is in an operating state while periodically receiving the second specific message; and determine that the target controller enters a sleep state if the second specific message is not received.

[0017] The dynamic routing table may include: message ID information requesting or not requesting routing; source cell information about the message ID; destination count information about the message ID; and routing execution or non-execution information about the message ID.

[0018] The gateway controller may be configured to: if the first specific message contains an add command, increment a source count of the message ID by 1 in the dynamic routing table; and if the first specific message contains a remove command, decrement the source count of the message ID by 1 in the dynamic routing table.

[0019] The gateway controller may be configured to: add the message ID to the message reception filter when the source count of the message ID changes from 0 to 1, so that the gateway controller performs routing with respect to the message ID; remove the message ID from the message reception filter when the source count of the message ID changes from 1 to 0, so that the gateway controller does not perform routing with respect to the message ID.

[0020] The gateway controller may be configured to: when a second specific message is received, increment a destination counter by 1 with respect to the message ID corresponding to the destination controller in the dynamic routing table and maintain the destination count; and when the second specific message is not received and a timeout occurs, decrement the destination count by 1 with respect to the message ID corresponding to the destination controller.

[0021] When the destination counter of the message ID is changed from 1 to 0 by the increase or decrease of the destination counter, the gateway controller may be configured to determine that the destination controller enters a sleep state and does not perform routing with respect to the destination controller according to the message ID.

[0022] In another embodiment, a dynamic routing method for a CAN message of a vehicle may include: receiving, by a gateway controller, a first specific message from a target controller; checking, by the gateway controller, whether a command included in the first specific message is an add command; if the command included in the first specific message is the add command, reading, by the gateway controller, a message ID included in the first specific message and incrementing a source count of the message ID of a dynamic routing table; checking, by the gateway controller, whether the source count of the message ID of the dynamic routing table is 1 or more; if the source count of the message ID is 1 or more, adding, by the gateway controller, the message ID to a message reception filter;and checking, by the gateway controller, whether a message is received with respect to only the message ID added to the message reception filter and performing the routing to a destination controller;

[0023] When the source count of the message ID of the dynamic routing table is incremented, the dynamic routing method may further include checking, by the gateway controller, whether the message ID is a message ID that exists in a routing database after reading the message ID contained in the first specific message, and if the message ID exists in the routing database, the source count of the message ID of the dynamic routing table may be incremented by 1.

[0024] The dynamic routing table may include: message ID information requesting or not requesting routing; source count information about the message ID; destination count information about the message ID, and routing execution or non-execution information about the message ID.

[0025] The first specific message may be a message including information in which the destination controller requests or does not request the gateway controller for routing with respect to the specific ID, and the first specific message may include: a command region for recording an addition or removal command; a message count region for recording a count to be increased or decreased; and a message ID region for recording a message ID desiring a routing request or a routing non-request.

[0026] In another embodiment, a dynamic routing method for a CAN message of a vehicle may include: receiving, by a gateway controller, a first specific message from a destination controller; checking, by the gateway controller, whether a command contained in the first specific message is a removal command; if the command contained in the first specific message is the removal command, reading, by the gateway controller, a message ID contained in the first specific message and decrementing a source counter of the message ID of a dynamic routing table if the source counter of the message ID of the dynamic routing table is not 0; removing, by the gateway controller, the message ID from the message reception filter if the source count of the message ID of the dynamic routing table is 0 as a result of decrementing the source count of the message ID by 1;and not checking, by the gateway controller, whether a message is received from the source controller with respect to only the message ID removed from the message reception filter.;

[0027] The dynamic routing table may include: message ID information, routing request or non-request; source count information about the message ID; destination count information about the message ID; and routing execution or non-execution information about the message ID.

[0028] The first specific message may be a message containing information in which the destination controller requests or does not request the gateway controller to route with respect to the specific ID, and the first specific message may include: a command region for recording an add or remove command; a message count region for recording a count to be incremented or decremented; and a message ID region for recording a message ID desiring a routing request or a routing non-request. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an explanatory diagram for describing an operation of a dynamic routing apparatus for a CAN message of a vehicle according to the related art. Fig. 2 is an explanatory diagram illustrating a schematic configuration of a dynamic routing apparatus for a CAN message of a vehicle according to an embodiment of the present invention. Fig. 3 is a flowchart of a dynamic routing method for a vehicle CAN message according to an embodiment of the present invention. Fig. 4 is a schematic diagram for describing a configuration of a request message or a routing message that a destination controller sends to a gateway controller in Fig. 2 sends. Fig. 5 is an exemplary diagram for describing a configuration of dynamic routing table information used by a gateway controller in Fig. 2 is generated. Fig. Figure 6 is an exemplary diagram for describing a message reception filter that is dynamically configured by a gateway controller in Fig. 2 is changed. DETAILED DESCRIPTION

[0029] Hereinafter, a dynamic routing apparatus and method for a CAN message of a vehicle in accordance with embodiments of the present invention will be described with reference to the accompanying drawings.

[0030] It should be noted that the drawings are not to precise scale and may be exaggerated in line thickness or component sizes solely for convenience and clarity. Furthermore, the terms used herein are defined by considering features of the invention and may be changed according to the custom or intent of the users or operators. Therefore, the definitions of the terms should be made in accordance with the overall disclosures presented herein.

[0031] Fig. 2 is an explanatory diagram illustrating a schematic configuration of a dynamic routing apparatus for a CAN message of a vehicle in accordance with an embodiment of the present invention.

[0032] As in Fig. 2, the dynamic routing device for the vehicle CAN message in accordance with the embodiment of the present invention may include a routing database 100 and a gateway controller 300. The routing database 100 may provide static routing table information. The gateway controller 300 may receive a designated specific message (1. Request message (or routing message) 2. Network Management (NM) message) from at least one target controller via a message receiving unit 310, generate dynamic routing table information, dynamically change a message reception filter 340 based on at least one piece of information included in the specific message, check the reception of a message (ie,a CAN message, hereinafter simply referred to as a message) with respect to only a message ID set at the message reception filter 340 and perform message routing at the destination controller designated in the dynamic routing table 330.

[0033] In the present embodiment, the gateway controller 300 can operate fundamentally based on the dynamic routing table information of the routing database 100.

[0034] In the dynamic routing table information, a controller that sends a message (i.e., a source controller) and a controller that receives the message (i.e., a destination controller) may be defined for each physical channel. Therefore, when power is supplied to the vehicle and the system starts, the gateway controller 300 may read the information (i.e., dynamic routing table information) and perform setting for message routing. For example, the gateway controller 300 may read IDs of messages to be read, set a reception filter, and set a transmission period and a physical channel for transmitting the message.

[0035] However, the present embodiment provides a method for dynamically performing (changing) the setting for message routing according to the current environment, reducing the load (routing load) of the CAN bus and the gateway controller 300, and improving the functional efficiency of the gateway controller 300.

[0036] More specifically, the gateway controller 300 may receive a designated specific message (1. Request message (or routing message), 2. NM message) from at least one destination controller via the message receiving unit 310 and generate the dynamic routing table information.

[0037] That is, when a message of a specific ID (ie, a message corresponding to a specific ID) is received or the reception is stopped, at least one target controller according to the embodiment may send a designated first specific message (e.g., request message (or routing message)) to the message receiving unit 310 of the gateway controller 300 (see Fig. 4).

[0038] Fig. Figure 4 is an example diagram for describing the configuration of the request message (or routing message) that the destination controller sends to the gateway controller in Fig. 2. As in Fig. 4, the request message (or routing message) that the target controller sends to the gateway controller 300 may include a command region (i.e., a region for recording a command instructing addition or removal), a message count region (i.e., a region for recording a count to be incremented or decremented), and a message ID region (or message ID grid region) (i.e., a region for recording a message ID requiring a routing request or a routing non-request).

[0039] In addition, the gateway controller 300 may receive a designated second specific message (e.g., NM message) from the at least one destination controller via the message receiving unit 310 and generate the dynamic routing table information.

[0040] The second specific message (NM message) is a message that is periodically sent while a target controller is in an operating state (i.e., an operating state other than a sleep state). While the second specific message (i.e., NM message) is received, the gateway controller 300 can determine that the target controller is in an operating state. If the second specific message (i.e., NM message) is not received, the gateway controller 300 can determine that the target controller is in a sleep state. In other words, when communication is started, each of the target controllers can periodically send the second specific message (i.e., NM message) to the gateway controller 300, and the gateway controller 300 can receive the second specific message (i.e., NM message). It is possible to confirm whether the gateway controller 300 exists on the network.

[0041] As such, the gateway controller 300 may generate dynamic routing table information based on the first and second specific messages (1. Request message (or routing message), 2. NM message) received from each destination controller (see Fig. 5).

[0042] Fig. 5 is an example diagram for describing the configuration of the gateway controller in Fig. 2. The dynamic routing table 330 may include message ID information requesting or not requesting routing, source count information for the message ID, destination count information for the message ID, and routing execution or non-execution information for the message ID.

[0043] When the gateway controller 300 receives the first specific message (e.g., request message (or routing message)), the gateway controller 300 may change the source count of the message ID.

[0044] For example, if the first specific message (e.g., request message (or routing message)) is an add command, the gateway controller 300 may increment the source count of the message ID by 1. Conversely, if the first specific message is a remove command, the gateway controller 300 may decrement the source count of the message ID by 1.

[0045] If the source count of the message ID is changed from 0 to 1 or from 1 to 0, the gateway controller 300 may change the message reception filter for the message ID (see Fig. 6).

[0046] That is, if the source count of the message ID changes from 0 to 1, the gateway controller 300 may change the message reception filter with respect to the message ID to perform routing. On the other hand, if the source count of the message ID changes from 1 to 0, the gateway controller 300 may change the message reception filter with respect to the message ID to not perform routing (see Fig. 6).

[0047] Additionally, when the second specific message (i.e., NM message) is received, the gateway controller 300 may change a target count.

[0048] For example, when the NM message is received via the message receiving unit 310, the gateway controller 300 may increment the target count of the message ID by 1, continuously maintain the target count, and then increment the target count of the message ID corresponding to the target controller by 1. If the NM message is not received via the message receiving unit 310 and thus a timeout occurs, the gateway controller 300 may not perform routing (i.e., message transmission) with respect to the message ID.

[0049] Fig. Figure 6 is an example diagram for describing the message reception filter implemented by the gateway controller in Fig. 2 is dynamically changed. As described above, the gateway controller 300 may receive the first specific message (e.g., request message (or routing message)) from the destination controller and dynamically change the message reception filter.

[0050] For example, as in Fig. 6, the gateway controller 300 may change (i.e., remove) the message reception filter for the message ID whose source count is changed from 1 to 0 based on the first specific message (e.g., request message (or routing message)) with respect to the message reception filter (0x0 to 0x7FF) (i.e., eight buffers (arrays) formed for each message ID region). In contrast, the gateway controller 300 may change (i.e., add) the message reception filter for the message ID whose source count is changed from 0 to 1.

[0051] Therefore, since the gateway controller 300 can determine whether the message sent by the source controller is received by confirming the state of the message reception filter 340, it is not required that the message be routed or not received, thereby reducing the load of software and the load on the CAN bus.

[0052] Fig. 3 is a flowchart of a dynamic routing method for a CAN message of a vehicle according to an embodiment of the present invention. As in Fig. 3 illustrates, when communication is started, the gateway controller 300 may receive the first specific message (e.g., request message (or routing message)) from the target controller (S101).

[0053] The gateway controller 300 may check whether a command included in the first specific message (e.g., request message (or routing message)) is an add command (S102).

[0054] If it is checked in step S102 that the command (e.g., request message (or routing message)) included in the first specific message is the add command (Yes in S102), the gateway controller 300 may read the message ID included in the first specific message (S103).

[0055] The gateway controller 300 may check whether the read message ID is the message ID present in the routing database (S104).

[0056] If the message ID exists in the routing database (Yes in S104), the gateway controller 300 may increment the source count of the message ID of the dynamic routing table 330 by 1 (S105).

[0057] The gateway controller 300 may check whether the source count of the message ID of the dynamic routing table 330 is 1 or greater (S106).

[0058] When it is checked in step S106 that the source count of the message ID is 1 or greater (Yes in S106), the gateway controller 300 may set (add) the message reception filter for the message ID (S107).

[0059] With respect to only the message ID set (added) to the message reception filter, the gateway controller 300 can check whether the message is received and perform routing to the destination controller, thereby reducing the load on software and the load on the CAN bus.

[0060] On the other hand, when it is checked in step S102 that the command (e.g., request message (or routing message)) included in the first specific message is not the add command (No in S102), (that is, that the command is the remove command), the gateway controller 300 may read the message ID included in the first specific message (S108).

[0061] The gateway controller 300 may check whether the current source count of the message ID of the dynamic routing table 330 is 0 (S109).

[0062] When it is checked in step S109 that the source count of the message ID of the dynamic routing table 330 is 0 (Yes in S103), the message ID is in a state where it is removed in the message reception filter 340 and thus the gateway controller 300 cannot perform an additional operation.

[0063] If it is checked in step S109 that the source count of the message ID of the dynamic routing table 330 is not 0 (No in S109), the gateway controller 300 may decrease the source count of the message ID of the dynamic routing table 330 by 1 (S110).

[0064] As a result of decreasing the source count of the message ID by 1, the gateway controller 300 may check whether the source count of the message ID of the dynamic routing table 330 is 0 (S111).

[0065] If it is checked in step S111 that the source count of the message ID is 0 (Yes in S111), the gateway controller 300 may set (remove) the message reception filter 340 for the message ID (S112).

[0066] Since the message ID is set (removed) at the message reception filter 340, the gateway controller 300 cannot confirm whether the message is received with respect to the message ID removed from the message reception filter 340, thereby reducing the load on the software and the load on the CAN bus.

[0067] The present embodiment has an effect that can actively perform message routing by detecting the state change of the source controller and the destination controller based on the dynamic routing table information during vehicle operation. In addition, only when there is a message to be received can the destination controller send the routing request, and when unnecessary, the destination controller can send the routing release request. Therefore, the gateway controller can selectively perform routing according to the request state of the message, thereby reducing the load on the software and the load on the CAN bus.

[0068] Although preferred embodiments of the invention have been disclosed for illustrative purposes, those skilled in the art will recognize that various modifications, additions, and substitutions are possible without departing from the scope and spirit of the invention as defined in the appended claims.

Claims

[1] Dynamic routing device for a CAN, Controller Area Network, message of a vehicle, comprising a gateway controller (300) including a message receiving unit (310) and a message receiving filter (340), characterized by , that: the message receiving unit (310) is configured to receive a message of a specific ID sent from a source controller and a designated specific message from at least one destination controller; the message reception filter (340) is configured to change dynamically based on at least one piece of information contained in the specific message; and the gateway controller (300) is configured to generate a dynamic routing table (330) based on information about the specific message, check the reception of a message with respect to only a message ID set on the message reception filter (340), and perform message routing to a destination controller designated in the dynamic routing table (330). [2] The dynamic routing device of claim 1, wherein the gateway controller (300) is configured to dynamically change a message routing setting based on a routing request of the target controller and a current state of the target controller. [3] Dynamic routing apparatus according to claim 1, wherein the designated specific message received from the destination controller comprises: a first specific message in which the destination controller requests or does not request routing from the gateway controller (300) with respect to the specific ID; and a second specific message which is periodically sent to the gateway controller (300) while the target controller is in an operating state. [4] Dynamic routing apparatus according to claim 3, wherein the first specific message comprises: a command region for recording an add or remove command; a message count region for recording a count to be incremented or decremented; and a message ID region for recording a message ID that desires a routing request or a routing non-request. [5] Dynamic routing device according to claim 3, wherein the gateway controller (300) is configured: to determine that the target controller is in an operating state while the second specific message is periodically received; and to determine that the target controller enters a sleep state if the second specific message is not received. [6] Dynamic routing apparatus according to claim 1, wherein the dynamic routing table (330) comprises: Message ID information requesting or not requesting routing; Source cell information about the message ID; Target count information about the message ID; and Routing execution or non-execution information via the message ID. [7] Dynamic routing device according to claim 3, wherein the gateway controller (300) is configured: if the first specific message includes an add command, to increase a source count of the message ID in the dynamic routing table (330) by 1; and if the first specific message contains a remove command, decrease the source count of the message ID by 1 in the dynamic routing table (330). [8] Dynamic routing device according to claim 7, wherein the gateway controller (300) is configured: when the source count of the message ID changes from 0 to 1, adding the message ID to the message reception filter (340) so that the gateway controller (300) performs routing with respect to the message ID; if the source count of the message ID changes from 1 to 0, remove the message ID from the message reception filter (340) so that the gateway controller (300) does not perform any routing with respect to the message ID. [9] Dynamic routing device according to claim 3, wherein the gateway controller (300) is configured: when a second specific message is received, incrementing a destination counter by 1 with respect to the message ID corresponding to the destination control in the dynamic routing table (330) and maintaining the destination count; and if the second specific message is not received and a time-out occurs, decrease the target count by 1 with respect to the message ID corresponding to the target control. [10] The dynamic routing apparatus according to claim 9, wherein, when the destination counter of the message ID is changed from 1 to 0 by the increase or decrease of the destination counter, the gateway controller (300) is configured to determine that the destination controller enters a sleep state and does not perform routing with respect to the destination controller corresponding to the message ID. [11] Dynamic routing method for a CAN message of a vehicle by a dynamic routing device comprising a gateway controller (300) including a message receiving unit (310) and a message receiving filter (340), characterized by that the procedure includes: Receiving, by the gateway controller (300), a first specific message from a target controller; Checking, by the gateway controller (300), whether a command contained in the first specific message is an add command; if the command contained in the first specific message is the add command, reading, by the gateway controller (300), a message ID contained in the first specific message and incrementing a source count of the message ID of a dynamic routing table (330); Checking, by the gateway controller (300), whether the source count of the message ID of the dynamic routing table (330) is 1 or more; if the source count of the message ID is 1 or more, adding, by the gateway controller (300), the message ID to a message reception filter (340); and Checking, by the gateway controller (300), whether a message is received with respect to only the message ID added to the message reception filter (340) and performing the routing to a destination controller. [12] The dynamic routing method of claim 11, wherein when the source count of the message ID of the dynamic routing table (330) is increased, the dynamic routing method further comprises checking, by the gateway controller (300), whether the message ID is a message ID present in a routing database (100), after reading the message ID contained in the first specific message, and if the message ID exists in the routing database, the source counter of the message ID of the dynamic routing table (330) is increased by 1. [13] Dynamic routing method according to claim 11, wherein the dynamic routing table (330) comprises: Message ID information requesting or not requesting routing; Source count information for the message ID; Target count information about the message ID; and Routing execution or non-execution information via the message ID. [14] The dynamic routing method according to claim 11, wherein the first specific message is a message including information in which the destination controller requests or does not request the gateway controller to route with respect to the specific ID, and the first specific message comprises: a command region for recording an add or remove command; a message count region for recording a count to be incremented or decremented; and a message ID region for recording a message ID that desires a routing request or a routing non-request. [15] Dynamic routing method for a CAN message of a vehicle by a dynamic routing device comprising a gateway controller (300) including a message receiving unit (310) and a message receiving filter (340), characterized by that the procedure includes: Receiving, by the gateway controller (300), a first specific message from a destination controller; Checking, by the gateway controller (300), whether a command contained in the first specific message is a removal command; if the command contained in the first specific message is the removal command, reading, by the gateway controller (300), a message ID contained in the first specific message and lowering a source counter of the message ID of a dynamic routing table (330) if the source counter of the message ID of the dynamic routing table (330) is not 0; Removing, by the gateway controller (300), the message ID from the message reception filter (340) if the source count of the message ID of the dynamic routing table (330) is 0 as a result of decreasing the source count of the message ID by 1; and not checking, by the gateway controller (300), whether a message is received from the source controller with respect to only the message ID removed from the message reception filter (340). [16] Dynamic routing method according to claim 15, wherein the dynamic routing table (330) comprises: Message ID information requesting or not requesting routing; Source count information via the message ID; Target count information about the message ID; and Routing execution or non-execution information via the message ID. [17] The dynamic routing method according to claim 15, wherein the first specific message is a message containing information in which the destination controller requests or does not request the gateway controller to route with respect to the specific ID, and the first specific message comprises: a command region for recording an add or remove command; a message count region for recording a count to be incremented or decremented; and a message ID region for recording a message ID that desires a routing request or a routing non-request.

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