Method and system for time synchronization in vehicle control system

Abstract

According to an embodiment of the present disclosure, a method for time synchronization in a vehicle control system comprises the steps of: on the basis of a first time generated by a first master device, synchronizing the first time of a plurality of control devices; and on the basis of a second time received by a second master device, synchronizing the second time of the plurality of control devices.

Description

Time synchronization method and system in a vehicle control system

[0001] The present disclosure relates to a time synchronization method and system in a vehicle control system.

[0002] The modern automotive industry is developing rapidly, and with the emergence of Software Defined Vehicles (SDVs), the importance of vehicle electronic control units and software is increasing.

[0003] Vehicle electronic control units operate in a functionally distributed environment, and time synchronization is essential for determining the order of messages transmitted from various electronic control units.

[0004] Furthermore, in cases such as the control of autonomous vehicles, inaccurate time synchronization can cause critical safety issues.

[0005] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention.

[0006] Some embodiments according to the present disclosure aim to provide a time synchronization method and system in a vehicle control system. The problems to be solved by the present invention are not limited to those mentioned above, and other problems and advantages of the present invention not mentioned can be understood from the following description and will be more clearly understood by embodiments of the present invention. Furthermore, it will be understood that the problems and advantages to be solved by the present invention can be realized by means and combinations thereof as set forth in the claims.

[0007] As a technical means for achieving the technical problem described above, a first aspect of the present disclosure may provide a method for time synchronization in a vehicle control system, comprising: a step of synchronizing a first time of a plurality of control devices based on a first time generated by a first master device; and a step of synchronizing a second time of the plurality of control devices based on a second time received by a second master device.

[0008] A second aspect of the present disclosure may provide a time synchronization system in a vehicle control system, comprising: a first master device that generates a first time and synchronizes the first time of a plurality of control devices included in the vehicle control system based on the generated first time; and a second master device that receives a second time and synchronizes the second time of the plurality of control devices based on the received second time.

[0009] A third aspect of the present disclosure may provide a computer-readable recording medium having a program for executing a method according to a first aspect on a computer.

[0010] In addition to this, other methods for implementing the present invention, other systems, and computer-readable recording media storing a computer program for executing said methods may be further provided.

[0011] Other aspects, features, and advantages other than those described above will become clear from the following drawings, claims, and detailed description of the invention.

[0012] FIG. 1 is a drawing for explaining a driving method of a vehicle according to one embodiment.

[0013] FIG. 2 is a schematic diagram illustrating a device mounted on a vehicle according to one embodiment.

[0014] FIG. 3 is a block diagram illustrating an example of a time synchronization system in a vehicle control system according to one embodiment of the present disclosure.

[0015] FIG. 4 is a block diagram illustrating another example of a time synchronization system in a vehicle control system according to one embodiment of the present disclosure.

[0016] FIG. 5 is a flowchart illustrating an example of a time synchronization method according to one embodiment of the present disclosure.

[0017] FIG. 6 is a flowchart illustrating an example of a time synchronization method according to one embodiment of the present disclosure.

[0018] FIG. 7 is a block diagram illustrating an example of the internal configuration of a control device included in a time synchronization system according to one embodiment of the present disclosure.

[0019] A time synchronization method in a vehicle control system according to one embodiment of the present disclosure includes the step of synchronizing a first time of a plurality of control devices based on a first time generated by a first master device, and the step of synchronizing a second time of the plurality of control devices based on a second time received by a second master device.

[0020] The advantages and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but can be implemented in various different forms and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention. The embodiments presented below are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In describing the present invention, detailed descriptions of related known technologies are omitted if it is determined that such detailed descriptions may obscure the essence of the present invention.

[0021] 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.

[0022] Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented by various numbers of hardware and / or software configurations that execute specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors or by circuit configurations for a specific function. Additionally, for example, the functional blocks of the present disclosure may be implemented in various programming or scripting languages. The functional blocks may be implemented as algorithms executed on one or more processors. Furthermore, the present disclosure may employ prior art for electronic configuration, signal processing, and / or data processing, etc. Terms such as “mechanism,” “element,” “means,” and “configuration” may be used broadly and are not limited to mechanical and physical configurations.

[0023] Furthermore, the connecting lines or connecting members between the components depicted in the drawings are merely illustrative of functional connections and / or physical or circuit connections. In the actual device, connections between components may be represented by various alternative or added functional connections, physical connections, or circuit connections.

[0024] In the following, 'vehicle' may mean any type of means of transportation used to move people or goods using an engine, such as automobiles, buses, motorcycles, kickboards, or trucks.

[0025] Embodiments are described in detail below with reference to the attached drawings. However, embodiments may be implemented in various different forms and are not limited to the examples described herein.

[0026] FIG. 1 is a drawing for explaining a driving method of a vehicle according to one embodiment.

[0027] In the present disclosure, the vehicle (10) may refer to a Software Defined Vehicle (SDV) in which the functions and performance of the vehicle are primarily defined and controlled through software. For example, the vehicle (10) may include one or more control devices capable of running various software.

[0028] In one embodiment, the control device may be mounted on a vehicle (10) to implement an autonomous driving vehicle. For example, the control device mounted on the autonomous driving vehicle may include various sensors for collecting surrounding situational information. For example, the control device may run an algorithm related to autonomous driving.

[0029] For example, the autonomous driving device can detect the movement of a preceding vehicle (20) operating in front through an image sensor and / or event sensor mounted on the front of the vehicle (10). The autonomous driving device may further include sensors to detect other vehicles (30) operating in the adjacent lane as well as pedestrians around the vehicle (10), in addition to the front of the vehicle (10).

[0030] At least one of the sensors for collecting situational information around an autonomous vehicle may have a predetermined field of view (FoV) as illustrated in FIG. 1. For example, when a sensor mounted on the front of a vehicle (10) has a field of view (FoV) as illustrated in FIG. 1, information detected at the center of the sensor may have relatively high importance. This may be because the information detected at the center of the sensor contains most of the information corresponding to the movement of the preceding vehicle (20).

[0031] The autonomous driving device controls the movement of the vehicle (10) by processing information collected by the sensors of the vehicle (10) in real time, while at least some of the information collected by the sensors can be stored in a memory device.

[0032] FIG. 2 is a schematic diagram illustrating a device mounted on a vehicle according to one embodiment.

[0033] The device (40) mounted on the vehicle of FIG. 2 may be the autonomous driving device described above with reference to FIG. 1.

[0034] Referring to FIG. 2, the device (40) mounted on the vehicle may include a sensor unit (41), a processor (46), and a memory system (47), etc. The device (40) mounted on the vehicle may further include a body control module (BCM) (not shown).

[0035] The sensor unit (41) includes a plurality of sensors (including cameras) (42-45), and the plurality of sensors (42-45) may include sensors for collecting information about the vehicle itself or information about the surrounding environment of the vehicle, such as image sensors, event sensors, light sensors, GPS devices, and acceleration sensors.

[0036] Data collected by the sensors (42-45) can be transmitted to the processor (46). The processor (46) can store the data collected by the sensors (42-45) in the memory system (47) and control the vehicle body control module based on the data collected by the sensors (42-45) to determine the movement of the vehicle. The memory system (47) may include two or more memory devices and a system controller for controlling the memory devices. Each of the memory devices may be provided as a single semiconductor chip.

[0037] In addition to the system controller of the memory system (47), each of the memory devices included in the memory system (47) may include a memory controller, and the memory controller may include an artificial intelligence (AI) computation circuit such as a neural network. The memory controller may generate computation data by assigning a predetermined weight to data received from the sensors (42-45) or the processor (46), and may store the computation data in a memory chip.

[0038] FIG. 3 is a block diagram illustrating an example of a time synchronization system in a vehicle control system according to one embodiment of the present disclosure.

[0039] Referring to FIG. 3, a vehicle control system (310) according to one embodiment may include a plurality of control devices (311 to 313). For example, the vehicle control system (310) may be implemented as a distributed system in which the control devices (311 to 313) interact through a network. For example, the processor (46) described above in FIG. 2 may be configured to include a plurality of processors corresponding to the plurality of control devices (311 to 313).

[0040] In a distributed system, it is important to maintain consistency in the data transmitted and received by each control device (311 to 313). In other words, to process transactions consistently in a distributed system, synchronized timestamps or logical order between different nodes may be required.

[0041] In an embodiment of the present disclosure, a plurality of control devices (311 to 313) included in a vehicle control system (310) may utilize a first time and a second time. In other words, synchronization regarding the first time and synchronization regarding the second time may be performed independently among the plurality of control devices (311 to 313).

[0042] In the present disclosure, the first time may be defined as a relative time that is relatively synchronized between control devices (311 to 313). Also in the present disclosure, the second time may be defined as a system time that is synchronized online.

[0043] In one embodiment, the first time may be used for a plurality of control devices (311 to 313) to perform a pre-set first function, and the second time may be used for a plurality of control devices (311 to 313) to perform a pre-set second function.

[0044] In one embodiment, a list of first functions using a first time or a list of second functions using a second time may be set in advance. For example, a vehicle control system (310) may receive in advance a user's setting value regarding a list of functions using a first time or a list of functions using a second time, etc.

[0045] In another embodiment, the vehicle control system (310) may set a predetermined function as either a first function or a second function based on the characteristics of the function that the control device is to perform. That is, before performing the predetermined function, the vehicle control system (310) may determine whether to use either a first time or a second time. For example, the first function using the first time may include functions related to the physical control of the vehicle, functions related to acquiring sensor data, etc. For example, the second function using the second time may include functions related to the display or sharing of time, functions related to collecting vehicle data, etc.

[0046] According to an embodiment of the present disclosure, each control device (311 to 313) included in the vehicle control system (310) can use the first time before the second time is synchronized, so that a delay that may occur due to time synchronization can be prevented.

[0047] In one embodiment, among a plurality of control devices (311 to 313) included in the vehicle control system (310), a control device that synchronizes a first time and a control device that synchronizes a second time may each be selected. For example, the control device that synchronizes the first time may be referred to as the first master device, and the control device that synchronizes the second time may be referred to as the second master device. For example, the plurality of control devices (311 to 313) included in the vehicle control system (310) may select a master device based on a predetermined election algorithm. The types of election algorithms for selecting a master device in this disclosure will not be limited.

[0048] Meanwhile, among the plurality of control devices (311 to 313), the control device selected as the first master device and the second master device may be the same control device or different control devices. A more detailed embodiment will be described with reference to FIG. 4.

[0049] In one embodiment, among the control devices (311 to 313) included in the vehicle control system (310), the control device selected as the first master device can generate a first time and transmit the generated first time to other control devices. A more detailed embodiment will be described with reference to FIG. 5.

[0050] In one embodiment, among the control devices (311 to 313) included in the vehicle control system (310), the control device selected as the second master device can receive the second time from the external device (320) and can transmit the second time to other control devices. A more detailed embodiment will be described with reference to FIG. 5.

[0051] FIG. 4 is a block diagram illustrating another example of a time synchronization system in a vehicle control system according to one embodiment of the present disclosure.

[0052] In one embodiment, the time synchronization method may include a first time synchronization process performed by a first master device and a second time synchronization process performed by a second master device.

[0053] In one embodiment, a plurality of control devices (411 to 413) included in the vehicle control system (410) may select a first master device. In one embodiment, the plurality of control devices may select a first master device in response to power supply. For example, as the vehicle control system (410) begins operation, power is supplied to the plurality of control devices (411 to 413), and in response to the plurality of control devices (411 to 413) becoming operable, the plurality of control devices (411 to 413) may select a first master device. For example, the first control device (411) may be selected as the first master device that synchronizes the first time.

[0054] In an embodiment, a first master device (e.g., a first control device (411)) can generate a first time. Subsequently, the first master device (e.g., a first control device (411)) can transmit the generated first time to other control devices (e.g., a second control device (412) and a third control device (413)).

[0055] In one embodiment, a plurality of control devices (411 to 413) included in the vehicle control system (410) may select a second master device. In one embodiment, the plurality of control devices may select a second master device in response to power supply with the vehicle control system (410). For example, a second control device (412) may be selected as the second master device that synchronizes the second time. As in the embodiment illustrated in FIG. 4, the first master device and the second master device may each be selected as different devices.

[0056] In an embodiment, a second master device (e.g., a second control device (412)) may receive a second time from an external device (420). For example, the second master device (e.g., a second control device (412)) may be connected to the external device via a network and may receive the second time after being connected to the external device. Afterward, the second master device (e.g., a second control device (412)) may transmit the received second time to other control devices (e.g., a first control device (411) and a third control device (413)).

[0057] Meanwhile, the external device (420) may refer to a device that provides time information through a network connection. For example, the external device (420) can synchronize connected network devices using standardized time. For example, the external device (420) can provide time information based on GPS satellite signals, atomic clocks, etc.

[0058] FIG. 5 is a flowchart illustrating an example of a time synchronization method according to one embodiment of the present disclosure.

[0059] In step 510, the vehicle control system or the time synchronization system may begin operation in response to the power supply. For example, the vehicle control system (or the time synchronization system) may boot based on the power supply.

[0060] In one embodiment, a synchronization process for a first time may be initiated in response to power supply (or booting of the system). For example, the synchronization process for a first time may be performed prior to the connection of an external device (step 520 described below).

[0061] For example, in step 511, a plurality of control devices included in the time synchronization system may select a first master device through data transmission and reception among themselves. As described above, a predetermined selection algorithm may be used in the process of selecting the first master device.

[0062] In step 512, the device selected as the first master device can generate the first time. For example, each of the plurality of control devices included in the time synchronization system may include a timer device. For example, the first master device can generate time information using a timer.

[0063] In step 513, the device selected as the first master device can synchronize the first time of a plurality of control devices included in the vehicle control system. For example, the first master device can transmit directly generated time information to other control devices. For example, the algorithm by which the first master device synchronizes the first time of the plurality of control devices may include Network Time Protocol (NTP), Precision Time Protocol (PTP), etc., but will not be limited to any one of these algorithms.

[0064] Meanwhile, in one embodiment, the first master device may be changed based on the synchronization result for the first time. For example, if the first master device transmits time information to a plurality of control devices but does not receive a response from at least one of the plurality of control devices, it may be determined that the synchronization for the first time has failed. In an embodiment, the plurality of control devices included in the time synchronization system may re-select the first master device through mutual data transmission and reception. For example, the changed first master device may be a different control device from the previously selected first master device.

[0065] Referring again to FIG. 5, a synchronization process for a second time can be initiated in response to a power supply.

[0066] For example, in step 521, a plurality of control devices included in the time synchronization system may select a second master device through data transmission and reception with each other. As previously described, a predetermined selection algorithm may be used in the process of selecting the first master device.

[0067] In step 522, the device selected as the second master device may receive the second time. For example, the second master device may receive the second time from an external device that provides standardized global time.

[0068] In step 523, the device selected as the second master device can synchronize the second time of a plurality of control devices included in the vehicle control system. For example, the second master device can transmit received time information to other control devices. For example, the algorithm by which the second master device synchronizes the second time of the plurality of control devices may include Network Time Protocol (NTP), Precision Time Protocol (PTP), etc., but will not be limited to any one of these algorithms.

[0069] Meanwhile, in one embodiment, the second master device may be changed based on the synchronization result for the second time. For example, if the second master device transmits time information to a plurality of control devices but does not receive a response from at least one of the plurality of control devices, it may be determined that the synchronization for the second time has failed. In an embodiment, the plurality of control devices included in the time synchronization system may re-select the second master device through mutual data transmission and reception. For example, the changed second master device may be a different control device from the previously selected second master device.

[0070] FIG. 6 is a flowchart illustrating an example of a time synchronization method according to one embodiment of the present disclosure.

[0071] The operations illustrated in FIG. 6 can be executed by control devices included in the aforementioned vehicle control system (or, a time synchronization system included in the vehicle control system). For example, the operations illustrated in FIG. 6 can be executed by processors included in the control device. For convenience of explanation, a time synchronization method according to one embodiment is described as being performed by a time synchronization system.

[0072] In step 610, the time synchronization system can synchronize the first time of a plurality of control devices based on the first time generated by the first master device.

[0073] In one embodiment, the time synchronization system may select a first master device that synchronizes a first time in response to a power supply.

[0074] In one embodiment, the first master device can transmit the generated first time to a plurality of control devices.

[0075] In one embodiment, the time synchronization system may change the first master device that synchronizes the first time based on the synchronization result for the first time.

[0076] In one embodiment, the first time may be used for a plurality of control devices to perform a pre-set first function.

[0077] In step 620, the time synchronization system can synchronize the second time of a plurality of control devices based on the second time received by the second master device.

[0078] In one embodiment, the time synchronization system may select a second master device that synchronizes the second time in response to a power supply.

[0079] In one embodiment, the second master device can transmit the second time received from an external device to a plurality of control devices.

[0080] In one embodiment, the time synchronization system may change the second master device that synchronizes the second time based on the synchronization result for the second time.

[0081] In one embodiment, the second time may be used for a plurality of control devices to perform a pre-set second function, which is distinguished from the first function.

[0082] FIG. 7 is a block diagram illustrating an example of the internal configuration of a control device included in a time synchronization system according to one embodiment of the present disclosure.

[0083] Referring to FIG. 7, the control device (700) may include a processor (710), memory (720), an input / output interface (730), and a communication module (740). For convenience of explanation, FIG. 7 only illustrates components related to the present invention. Accordingly, other general-purpose components in addition to those illustrated in FIG. 7 may be further included in the control device (700) included in the time synchronization system. Furthermore, it is obvious to those skilled in the art that the processor (710), memory (720), input / output interface (730), and communication module (740) illustrated in FIG. 7 may be implemented as independent devices.

[0084] The processor (710) can process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Here, the instructions may be provided from memory (720) or an external device. Additionally, the processor (710) can generally control the operation of other components included in the control unit (700).

[0085] For example, the processor (710) can control at least some of the operations of the control device (700) described in FIGS. 3 to 6.

[0086] The processor (710) may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and memory storing a program that can be executed on the microprocessor. For example, the processor (710) may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor (710) may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor (710) may refer to a combination of processing devices such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a digital signal processor (DSP) core, or any other combination of such configurations.

[0087] The memory (720) may include any non-transient computer-readable recording medium. As an example, the memory (720) may include a permanent mass storage device such as a random access memory (RAM), read-only memory (ROM), disk drive, solid state drive (SSD), or flash memory. As another example, a permanent mass storage device such as a ROM, SSD, flash memory, or disk drive may be a separate permanent storage device distinct from the memory. Additionally, the memory (720) may store an operating system (OS) and at least one program code (e.g., code for the processor (710) to perform the operation described above with reference to FIGS. 3 through 6).

[0088] These software components may be loaded from a computer-readable recording medium separate from the memory (720). This separate computer-readable recording medium may be a recording medium that can be directly connected to the control device (700), and may include, for example, a computer-readable recording medium such as a floppy drive, disk, tape, DVD / CD-ROM drive, memory card, etc. Alternatively, the software components may be loaded into the memory (720) through a communication module (740) that is not a computer-readable recording medium. For example, at least one program may be loaded into the memory (720) based on a computer program (e.g., a computer program for the processor (710) to perform the aforementioned operation with reference to FIGS. 3 to 6) which is installed by files provided through the communication module (740) by developers or a file distribution system that distributes installation files for the application.

[0089] The input / output interface (730) may be a means for interfacing with a device for input or output (e.g., keyboard, mouse, etc.) that may be connected to or included in the control device (700). In FIG. 7, the input / output interface (730) is shown as an element configured separately from the processor (710), but is not limited thereto, and the input / output interface (730) may be configured to be included in the processor (710).

[0090] The communication module (740) may provide a configuration or function for the control device (700) to communicate with an external device (e.g., external device (320)) through a network. For example, control signals, commands, data, etc. provided under the control of the processor (710) may be transmitted to an external device via the communication module (740) and the network.

[0091] Unless explicitly stated or contrary to the order of the steps constituting the method according to the present invention, said steps may be performed in a suitable order. The present invention is not necessarily limited by the order in which said steps are described. The use of all examples or exemplary terms (e.g., etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is not limited by said examples or exemplary terms unless limited by the claims. Furthermore, those skilled in the art will understand that various modifications, combinations, and changes may be made according to design conditions and factors within the scope of the claims or equivalents to which they are added.

[0092] Accordingly, the scope of the present invention should not be limited to the embodiments described above, and all scopes equivalent to or equivalently modified from the claims set forth below, as well as the claims set forth below, shall be considered to fall within the scope of the concept of the present invention.

Claims

1. In a time synchronization method in a vehicle control system, A step of synchronizing the first time of a plurality of control devices based on the first time generated by the first master device; and A method comprising the step of synchronizing the second time of the plurality of control devices based on the second time received by the second master device.

2. In the above claim 1, A method further comprising the step of selecting the first master device that synchronizes the first time in response to a power supply.

3. In Paragraph 1, The step of synchronizing the first time above is, A method comprising the step of transmitting the first time, in which the first master device is generated, to the plurality of control devices.

4. In Paragraph 1, A method further comprising the step of selecting the second master device that synchronizes the second time in response to a power supply.

5. In Paragraph 1, The step of synchronizing the second time above is, A method comprising the step of transmitting the second time received by the second master device from an external device to the plurality of control devices.

6. In Paragraph 2, A method further comprising the step of changing the first master device that synchronizes the first time based on the synchronization result for the first time.

7. In Paragraph 1, The above first time is used for the plurality of control devices to perform a pre-set first function, and A method in which the above second time is used for the plurality of control devices to perform a pre-set second function that is distinct from the first function.

8. In a time synchronization system in a vehicle control system, A first master device that generates a first time and synchronizes the first time of a plurality of control devices included in the vehicle control system based on the generated first time; and A second master device that receives a second time and synchronizes the second time of the plurality of control devices based on the received second time; comprising Time synchronization system.

9. In Paragraph 8, The above time synchronization system is, A time synchronization system comprising selecting the first master device that synchronizes the first time in response to a power supply.

10. In Paragraph 8, A time synchronization system comprising the first master device transmitting the generated first time to the plurality of control devices.

11. In Paragraph 8, The above time synchronization system is, A time synchronization system comprising selecting the second master device that synchronizes the second time in response to a power supply.

12. In Paragraph 8, The above second master device is, A time synchronization system comprising receiving the second time from an external device and transmitting the received second time to the plurality of control devices.

13. In Paragraph 9, The above time synchronization system is, A time synchronization system comprising changing the first master device that synchronizes the first time based on the synchronization result for the first time.

14. In Paragraph 8, The above first time is used for the plurality of control devices to perform a pre-set first function, and The above second time is a time synchronization system in which the plurality of control devices are used to perform a pre-set second function that is distinct from the first function.

15. A computer-readable recording medium storing a program for executing the method according to paragraph 1 on a computer.

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