Method for synchronous data transmission
Patent Information
- Application Number
- PCT/EP2026/051949
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-02-21
- Filing Date
- 2026-01-27
- Publication Date
- 2026-08-27
Smart Images
Figure EP2026051949_27082026_PF_FP_ABST
Abstract
Description
Description Title of the invention: Method for synchronous data transmission. Technical field of the invention.
[0001] The present invention relates generally to the synchronous transmission of data.
[0002] It relates more specifically to a method of transmitting data via a transmission network, according to which a first computer component transmits frames to a second computer component at successive times of transmission with a predetermined sampling frequency.
[0003] It also concerns a motor vehicle whose computer components are adapted to implement this process. State of the art
[0004] In a data transmission network, typically in a CAN bus or Ethernet bus in a motor vehicle, it is known to group data into frames so that they are transmitted at a regular frequency.
[0005] Generally, there is a time lag between when a frame is transmitted and when it is received. This lag has two components. One component, called the delay, is constant and represents the minimum time required for the frame to be received by the receiver. The other component, called jitter, is variable.
[0006] This fluctuating part of the time lag can prove problematic when, to ensure a particular function, the time of transmission of the frame must be known precisely.
[0007] In this eventuality, it is known that the sender includes in the frame a timestamp indicating the time of transmission or preparation of the data.
[0008] However, this solution has several drawbacks.
[0009] First, it increases the size of transmitted frames, so the transmission network must be sized accordingly. Furthermore, it requires the sender to be able to generate timestamps and the receiver to be able to process these timestamps. It therefore generates significant additional costs. Presentation of the invention
[0010] In order to remedy the aforementioned drawbacks of the prior art, the present invention proposes a protocol for evaluating the jitter affecting each received frame, in order in particular to be able to deduce the time of transmission of each frame.
[0011] More specifically, the invention proposes a data transmission method as defined in the introduction, in which: - upon receiving each frame, the second computer component timestamps said frame with a reception time, and in which - The second computer component executes the steps consisting of: (i) acquire a sampling period that is equal to the inverse of said sampling frequency, ii) upon receipt of the first frame by the second computer component, consider the time of reception, which timestamps said first frame, as the reference time. iii) calculate a predicted reception time at which a next frame should be received by the second computer component, given the reference time and the sampling period, (iv) upon receipt of the next frame by the second computer component, acquire the actual reception time, timestamping said next frame, then (v) only if the actual reception time occurs before the predicted reception time (in other words, is prior to the predicted reception time), consider the actual reception time as the new reference time, and vi) determine the transmission time of said next frame as a function of the reference time.
[0012] Thus, thanks to the invention, the second computer component can obtain a precise estimate of the time at which the frame should have been received if its transmission had not been affected by jitter. It can then deduce the time the frame was sent without the first computer component needing to transmit this information on the communication bus.
[0013] In this way, the frames circulating in the communication network are smaller than in the prior art, thus freeing up bandwidth on the network. The invention also eliminates the need to modify the first computer component to timestamp the frames it transmits (which is particularly complicated when this component is supplied by a subcontractor). Furthermore, the invention avoids the need to implement a synchronization mechanism between the two computer components. It therefore significantly reduces costs.
[0014] Other advantageous and non-limiting features of the data transmission method according to the invention, taken individually or in all technically possible combinations, are as follows: - steps iii), iv), v) and iv) are repeated in a loop; - at step v), if the actual time of reception occurs before the predicted time of reception, the second computer component considers that said next frame has zero jitter and that each previously received frame has a respective non-zero jitter, then it determines the transmission time of each previously received frame based on the corresponding non-zero jitter; - if the actual time of receipt occurs before the predicted time of receipt, the following is also provided for:
[0015] to update each jitter affecting frames received before said next frame, by adding to them the difference between the predicted reception time and the actual reception time associated with said next frame, and / or
[0016] n to update a maximum jitter value, by adding to said maximum jitter value the difference between the predicted reception time and the actual reception time; - at step v), if the actual reception time occurs exactly at the predicted reception time, the reference time remains unchanged and the second computer component considers that said next frame has zero jitter; - at step v), if the actual reception time occurs after the predicted reception time, the reference time remains unchanged and the second computer component considers that said next frame has jitter equal to the difference between the actual reception time and the predicted reception time, then it determines the transmission time of said next frame based on said jitter; - the second computer component comprising a frame reception module and a frame processing module, each frame is time-stamped by the reception module, while steps i) to vi) are implemented by the processing module; - a third computer component transmitting other frames to the second computer component via the transmission network, the data contained in the frames emitted by the first computer component and by the third computer component are correlated taking into account the times of emission determined in step vi); - each frame contains data relating to the dynamics and / or thermodynamics of a wheel of a motor vehicle; - according to the procedure: The first computer component sends frames containing data relating to wheel rotation speed, obtained from a rotation sensor integrated into the first wheel of the motor vehicle. n the third computer component sends frames, each containing its transmission time and data relating to a pressure and / or temperature of a predetermined wheel of said motor vehicle; U the second computer component receives the frames from the first computer component and implements steps i) to vi) to determine their respective transmission times, and n the data relating to the rotation speed of the first wheel, associated with their respective emission times determined by the second computer component, are correlated with the data relating to pressure and / or temperature, so as to assign to said predetermined wheel of the motor vehicle the data relating to the rotation speed of the first wheel; - preferably, it is planned to attempt to correlate the data relating to the rotational speed of the first wheel with the data relating to the pressure and / or temperature of each determined wheel of the vehicle, only one attempt at correlation succeeding (which makes it possible to determine which is this first wheel, in this case the determined wheel for which the correlation succeeded).
[0017] The invention also relates to a motor vehicle comprising:
[0018] - a communication network,
[0019] - a first computer component adapted to transmit frames over said communication network with a predetermined sampling frequency, and
[0020] - a second computer component adapted to read frames from said communication network and programmed to implement a data transmission process as described above.
[0021] Of course, the various features, variants, and embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive. Detailed description of the invention
[0022] The description that follows, with regard to the attached drawings, given by way of non-limiting examples, will make it clear what the invention consists of and how it can be carried out.
[0023] Regarding the attached drawings:
[0024] [Fig.1] is a schematic view of a communicating assembly adapted to implement a process according to the invention;
[0025] [Fig.2] is a schematic view of a motor vehicle including the communicating assembly of [Fig.1];
[0026] [Fig.3] is an example of a chronogram illustrating times of transmission and reception of frames.
[0027] In [Fig.1], we have represented a communicating set comprising two computer components 100, 200 connected together by a communication network 300 and adapted to communicate together synchronously.
[0028] The first computer component is at least adapted to transmit frames on this communication network 300. It will therefore be referred to hereafter as transmitter 100.
[0029] The second computer component is at least adapted to receive or read frames on this communication network 300. It will therefore be referred to hereafter as receiver 200.
[0030] The communication network 300 is preferably wired. For example, it could be an Ethernet bus or a CAN bus, but many other examples are possible. Its architecture is such that the transmitter 100 can send frames on this communication network 300, and the receiver 200 can receive or read these frames.
[0031] Here we can define a frame as a block which includes one or more data and which is transmitted according to a set of rules constituting a synchronous procedure for controlling data transmission.
[0032] When transmitter 100 sends a frame on the communication network 300, there is a latency period before receiver 200 can receive it.
[0033] This latency time is variable. Its fixed and deterministic component is called the AT delay. d while its variable component is called jig ôf.
[0034] We can then determine this jig using a method such as the one that will be described below.
[0035] Before describing this process, we can give a generic example of a device suitable for implementing it. After describing the process, we will give a more specific and detailed example of a device.
[0036] In the first generic example illustrated in [Fig. 1], the transmitter 100 comprises two modules. The first module, 101, is adapted to receive DI data (for example, from any sensor) and to sample it at a predetermined sampling frequency to form frames. A second module, 102, is adapted to transmit these frames on the communication network 300 at transmission times f. This transmitter 100 can typically be formed by a microcontroller.
[0037] Here, we therefore consider that the emission times t correspond to the times when the frames are transmitted on the communication network 300. Alternatively, we could consider that the emission times correspond to the sampling times of the frames by the first module 101.
[0038] Here, receiver 200 also has two modules. The first module, 201, is adapted to receive frames at reception times t' ;A second module 202 is adapted to process these frames. This receiver 200 can typically be formed by a microcontroller, the first module 201 then being a controller that stacks the data of the received frames into a buffer, and the second module 202 being another controller adapted to depile this information to make it available in an interface for subsequent use.
[0039] Here, as shown by the star in [Fig.1], we therefore consider that the reception times t' ; correspond to the moments when the frames are read on the communication network 300 by the first module 201.
[0040] Alternatively, as shown by the dashed star in [Fig. 1], the reception times could be considered to correspond to the data processing times of the second module 202. However, this alternative is not preferred since the first module 201 adds jitter that must also be taken into account in the process described below, thus increasing the uncertainty in determining the frame transmission times f. In contrast, in the preferred embodiment, the jitter arises solely from the frame transmission delay on the communication network 300, the frame transmission delay on the network, and the frame reception delay, but not from the data depilation delay.
[0041] It should be noted here that the transmission delay of frames on the 300 communication network can be highly variable. Indeed, if the frame is not a priority frame on the communication network, the transmission delay can vary depending on whether or not priority frames are passing through the network.
[0042] The process implemented by receiver 200 makes it possible to determine not the AT delay d , but rather the jig ôf.
[0043] To better understand the process, we have represented it in [Fig.3]: - on a first time scale t, five emission instants t b t2, t3, t4, t5 successive frames, at the sampling frequency (which is equal to the inverse of the AT sampling period), and - on a second time scale t, five instants of reception t, t'2, t'3, t'4, t'5 of these frames by the receiver 200.
[0044] The AT delay is also represented in this figure. dand the jitter affecting the transmission of each frame. The delay is constant, but, for example, the jitter varies greatly from one frame to another.
[0045] It is also assumed that receiver 200 and transmitter 100 are functioning normally, in particular according to a stable sampling frequency.
[0046] In this context, as explained above, receiver 200 timestamps each frame when it receives it by assigning it a reception time t'i, t'2, t'3, t'4, t'5. This timestamping is therefore preferentially executed by the first module 201 (closest to the communication network 300).
[0047] According to the invention, the second module 202 of the receiver 200 is programmed to implement the following steps.
[0048] In a first step i), when the transmitter 100 starts to transmit frames on the communication network 300, the receiver 200 acquires the sampling period AT. This is, for example, stored in its memory.
[0049] In a second step ii), when it receives a first frame, the receiver 200 timestamps this frame by indicating the moment at which it was received, that is to say the reception time t' b
[0050] At this stage, receiver 200 considers this reception instant t'i as the reference instant.
[0051] The reference time is defined here as the assumed time at which the frame should be received if its transmission was not affected by jitter.
[0052] In practice, in the example illustrated in [Fig.3], we observe that the transmission was affected by a non-zero jitter, so that the actual reference time is not that considered by receiver 200. The rest of the process will therefore allow us to correct this error by progressively recalibrating the reference time.
[0053] To do this, in a third step iii), the receiver 200 calculates a predicted reception time t"2 at which it expects to receive the next frame, given the reference time t'i and the sampling period AT.
[0054] Here, we can write:
[0055] t , '2= t'1+ (n+l).AT
[0056] with n the number of frames received since the last update of the reference time.
[0057] Here, n is equal to 0.
[0058] During a fourth step iv), when it receives a second frame, the receiver 200 timestamps this new frame by associating it with the reception time t'2 at which it was received by the receiver 200. This time will be called the actual reception time t'2, as opposed to the predicted reception time t"2.
[0059] At this stage, three cases can occur. Then, during a fifth step v), the receptor 200 will search for which case is present and will proceed differently depending on the case.
[0060] The first case, which is the one illustrated in [Fig.3] for the second frame, is the one where the actual reception time t'2 of this second frame occurs after the predicted reception time t"2. In other words, the second frame was received after the time at which it should have been received if the reception times t'i and t'2 were separated by an interval equal to the sampling period.
[0061] This occurs when the jitter affecting the transmission of the second frame is greater than the jitter x affecting the first frame (the latter may or may not be null).
[0062] In this first case, the reference time remains unchanged. As will be explained below, the transmission time of the second frame can then be determined based on this reference time (it could, of course, alternatively, be determined based on the predicted reception time t"2).
[0063] On the other hand, receiver 200 considers that the second frame is affected by a jitter ôt2 equal to the difference between the actual reception time t'2 and the predicted reception time t"2.
[0064] In the illustrated example, this evaluation of the jitter ôt2 is incorrect because it considers a reference instant that is itself incorrect. However, the rest of the process will correct this error.
[0065] Indeed, the process formed by steps iii) and following is repeated in loops. Note that during this repetition, the integer n will be incremented by the value one in each loop, as long as the reference time is not updated. It will, however, reset to zero as soon as the reference time is updated.
[0066] The second case, which is the one illustrated in [Fig.3] for the third frame, is where the actual reception time t'3 occurs before the predicted reception time t'3. In other words, the third frame was received before the time at which it should have been received if the reception times t'2 and t'3 were separated by an interval equal to the sampling period.
[0067] In this case, we understand that the previously considered reference point was incorrect.
[0068] So, receiver 200 considers the actual reception time t'3 as the new reference time (the integer n is reset to zero).
[0069] The receiver also considers that this third frame has zero jitter (which is correct in the illustrated example).
[0070] As will be explained below, the transmission time of the third frame can then be determined based on this new reference time.
[0071] Since the reference time has changed, it is then possible to correct the jigs determined at previous times, by adding to them the difference between the predicted reception time t"3 and the actual reception time t'3.
[0072] Thus, the jitter ôti of the first frame, which was considered zero, is ultimately considered equal to this difference. As for the jitter ôt2 of the second frame, which was considered non-zero, it is updated by adding the value of this difference.
[0073] If receiver 200 ever maintains a variable indicating the maximum jitter value among the jitters affecting previously received frames, this variable can also be updated by adding the value of this deviation to it.
[0074] The third case, which is the one illustrated in [Fig.3] for the fourth frame, is the one where the actual reception time t'4 occurs exactly at the predicted reception time tr" 4.
[0075] In this third case, the reference time remains unchanged since it appears to be accurate.
[0076] The receiver also considers that this frame has zero jitter.
[0077] As will be explained below, the transmission time of the fourth frame can then be determined based on this reference time (it could of course, alternatively, be determined based on the predicted reception time t"4).
[0078] Then, steps iii), iv) and v) are repeated in a loop.
[0079] Thus, in the illustrated example, during the following loop, the actual reception time t'5 occurs after the predicted reception time t"5 (as in the first case considered above).
[0080] Therefore, the reference time remains unchanged. However, the receiver considers that the frame is affected by a jitter ôt5 equal to the difference between the actual reception time t'5 and the predicted reception time t'"5.
[0081] These steps iii) to v) are preferably repeated indefinitely in a loop. Then, the sixth step vi) described below will also be implemented in a loop, either within this same loop or within another loop of reduced frequency.
[0082] Alternatively, steps iii) to v) could be implemented in a loop a finite number of times. This number could, for example, be predefined. In another example, this number would be variable. Thus, in this other example, the process would stop when the reference time has not changed after a predetermined number of times.
[0083] This variant is not preferred, however, because if the 300 communication network experiences a problem that shifts all frames, it will not allow for the realignment of these frames. In other words, implementing steps iii) to v) in a loop without a predetermined time limit will make the process more robust.
[0084] The final, sixth step (vi) consists of determining the emission times t b t2, t3, t4, t5 frames.
[0085] During this sixth step vi), the receiver 200 will be able to estimate either only the transmission time of the last received frame, or the transmission times t b t2, t3, t4, t5 of the frames previously received.
[0086] In practice, if the reference time has not changed, it will only estimate the transmission time of the last received frame.
[0087] However, optionally, if the reference time has changed, it can estimate the emission times t b t2, t3, t4, t5 of all the frames previously received, considering that they are equal to the actual reception times t, t'2, t'3, t'4, t'5, from which their jitter and the AT delay are subtracted. d , which can be written generically:
[0088] h = t'i - ôh - AT d
[0089] This AT deadline d will for example be stored in the memory of receiver 200, after having been estimated by tests on a test system.
[0090] At this stage, we can give a concrete example of the application of this process.
[0091] In this more concrete example, a third computer component, 300, is planned, adapted to transmit data in frames over the communication network. (preferably with a frequency such that this frequency and the aforementioned sampling frequency are multiples of each other).
[0092] In this example, it is assumed that while the first computer component (the transmitter 100) provides data to the second computer component (the receiver 200) that may be affected by jitter, this is not the case for the third computer component, whose data is jitter-free (for example, because it is time-stamped by the third computer component before being sent). According to the invention, the data received from the first computer component can then be correlated with that received from the third computer component, because the second computer component is able to determine their transmission times.
[0093] We are talking about correlation here to describe how data from the first and third computer components can be compared or associated, given their times of emission.
[0094] We can describe this example even more precisely, with reference to [Fig.2].
[0095] Here, we consider that the transmitter 100, receiver 200, third computer component 400 and communication network 300 equip a motor vehicle 1.
[0096] It will preferably be a land vehicle (truck, bus, motorcycle...), and more specifically here a car.
[0097] In this example, transmitter 100 includes a wheel speed sensor for the vehicle. It is therefore able to determine this dynamic information and transmit it over the communication network 300. In practice, this transmitter 100 provides the ABS braking assistance function (from the German "Antiblockiersystem").
[0098] Typically, the sensor uses a circular target formed by alternating magnets oriented with their north or south poles towards the center of the circle. If the target rotates with the wheel, the sensor is stationary and generates a "tap signal" with an identifier. This identifier is associated with a specific wheel of the motor vehicle.
[0099] This top signal is transmitted on the 300 communication network with a constant sampling frequency, for example 50 Hz (one frame every 20 ms). When these frames are received by the 200 receiver, their transmission is affected by an AT delay. d and a variable jig.
[0100] The third computer component 400 comprises a pressure and / or temperature sensor for a wheel, and a separate computer located remotely from the sensor. This third computer component 400 is therefore able to determine this thermodynamic pressure and / or temperature information from the sensor and transmit it over the communication network 300 via the computer.
[0101] In practice, the pressure and / or temperature sensor is the tire valve. It is designed to transmit thermodynamic information via radio frequency to the vehicle's computer, for example, once every 15 seconds, when it is in a specific position (e.g., rotated 30° around the wheel's axis relative to its highest point). This information is then identified. This identifier is associated with an unspecified wheel on the vehicle (it can happen that the rear wheels are initially mounted on the front and new tires are subsequently fitted to wheels that are then installed on the rear).
[0102] It should be noted here that the third computer component 400 must be synchronized on the same time base as the second computer component 200.
[0103] The computer in the third computer component 400 is designed to send frames over the communication network 300 at a predefined frequency, in this case 10 Hz. In practice, it sends a frame only when it has received thermodynamic information from the sensor within the last 100 ms. During this transmission, it timestamps each frame (i.e., its time of transmission is contained within the transmitted data). In this example, the computer corresponds to the component in the motor vehicle responsible for receiving all radio frequency data (for example, the access key data).
[0104] Receiver 200 will then be able to correlate the data contained in the frames received from transmitter 100 (the speed sensor) and the computer of the third computer component 400. In this example, receiver 200 corresponds to a component of the motor vehicle performing various functions in different areas. It includes a processor, memory, and various input and output interfaces.
[0105] Thanks to its interfaces, the 200 receiver is adapted to receive the steering wheel angle (this angle being zero when the vehicle is traveling in a straight line), and to read the frames circulating on the 300 communication network.
[0106] Thanks to its memory, receiver 200 stores a computer application, consisting of computer programs including instructions whose execution by the processor allows receiver 200 to implement the following process.
[0107] In practice, this receiver 200 seeks to identify which wheel corresponds to each frame received from the computer of the third computer component 400. To do this, it will rely on: - the top signal which is affected by jitter but is associated with an identified wheel, and - the signal containing the thermodynamic information which is not affected by jitter but which is associated with an unidentified wheel.
[0108] Indeed, the process described above will allow us to determine the times of transmission of the frames containing the top signal, so that the two aforementioned signals can be compared on the same time base.
[0109] Since they are comparable, receiver 200 will be able to rely on the signal from This is ideal for identifying which wheel corresponds to the signal containing the thermodynamic information.
[0110] To do this, the receiver will wait until the vehicle is moving forward and the steering wheel is turned through an angle within a specific range (for example, between 10° and 30°). In such a situation, it is known that the front wheel on the outside of the turn is the one that rotates the fastest, the rear wheel on the inside of the turn is the one that rotates the slowest, and the other rear wheel rotates faster than the other front wheel.
[0111] By correlating the two aforementioned signals, it will then be possible to associate the signal containing the thermodynamic information with an identified wheel.
[0112] The present invention is in no way limited to the embodiment described and represented, but a person skilled in the art will be able to make any variation in accordance with the invention.
[0113] Thus, the method for determining the transmission times of the frames can be used in a context different from that described above. It can be used to temporally realign the vehicle's perception data. More specifically, it can be used to temporally realign data from the vehicle's sensors, typically dynamic sensors installed on the chassis (steering angle sensor, suspension sensor, etc.), telemetry sensors (RADAR, LIDAR, SONAR), and cameras. It can also be used by these same sensors, particularly a camera, to realign the data read by that camera with the vehicle's communication network.
[0114] More generally, the process could be used in fields other than automotive (robotics, aeronautics, space...).
[0115] According to another embodiment of the invention, the method can be used solely to realign the reference time in order to directly deduce the transmission times of subsequent frames. In this embodiment, no jitter calculation will therefore be performed.
Claims
Demands
1. A method for transmitting data via a transmission network (300), wherein a first computer component (100) transmits frames to a second computer component (200) at transmission times (t b t2, t3, t4, t5) successive with a predetermined sampling frequency, characterized in that upon reception of each frame, the second computer component (200) timestamps said frame with a reception instant (t' b t'2, t'3, t'4, t'5), and in that the second computer component (200) executes the steps consisting of: (i) acquire a sampling period (SP) which is equal to the inverse of said sampling frequency, ii) when receiving a first frame by the second computer component (200), consider the time of reception (t' bt'2, t'3, t'4, t'5) timestamping said first frame as the reference instant, iii) calculate a predicted reception instant (t”2, t”3, t”4, t”4, t”5) at which a next frame should be received by the second computer component (200), taking into account the reference instant and the sampling period (AT), (iv) upon receipt of the next frame by the second computer component, acquire the actual reception time (t' b t'2, t'3, t'4, t'5) timestamping said next frame, then (v) only if the actual reception time (t'3) occurs before the predicted reception time (t"3), consider the actual reception time (t'3) as the new reference time, and vi) determine the transmission time (t2, t3, t4, t5) of said next frame as a function of the reference time.
2. A data transmission method according to claim 1, wherein steps iii), iv), v) and iv) are repeated in a loop.
3. A data transmission method according to claim 1 or 2, wherein, in step v), if the actual reception time (t'3) occurs before the predicted reception time (t"3), the second computer component (200) considers that said next frame has zero jitter and that each previously received frame has a respective jitter (t'3). b ôt2) non-zero, then it determines the emission time (t b t2) of each previously received frame as a function of the jitter (ôt b ôt2) corresponding non-zero value.
4. A data transmission method according to claim 3, wherein if the actual reception time (t'3) occurs before the predicted reception time (t"3), it is further provided that: - to update each jitter affecting the frames received before said next frame, by adding to them the difference between the predicted reception time (t"3) and the actual reception time (t'3) associated with said next frame, and / or - to update a maximum jitter value, by adding to said maximum jitter value the difference between the predicted reception time (t"3) and the actual reception time (t'3).
5. A data transmission method according to any one of claims 1 to 4, wherein, in step v), if the actual reception time (t'4) occurs exactly at the predicted reception time (t"4), the reference time remains unchanged and the second computer component (200) considers that said next frame has zero jitter.
6. A data transmission method according to any one of claims 1 to 5, wherein, in step v), if the actual reception time (t'2, t'5) occurs after the predicted reception time (t"2, t"5), the reference time remains unchanged and the second computer component (200) considers that said next frame is affected by a jitter (ôt2, ôt5) equal to the difference between the actual reception time (t'2, t'5) and the predicted reception time (t"2, t"5), then it determines the transmission time (t2, t5) of said next frame as a function of said jitter (ôt2, ôt5).
7. A data transmission method according to any one of claims 1 to 6, wherein the second computer component (200) comprises a frame receiving module (201) and a frame processing module (202), each frame is time-stamped by the receiving module (201), while steps i) to vi) are implemented by the processing module (202).
8. A data transmission method according to any one of claims 1 to 7, wherein, a third computer component (400) transmits further frames to the second computer component (200) via the transmission network (300), the data contained in the frames transmitted by the first computer component (200) and by the third computer component (400) are correlated taking into account the times of transmission (t b t2, t3, t4, t5) determined in step vi).
9. Data transmission method according to any one of claims 1 to 8, wherein each frame includes data relating to the dynamics and / or thermodynamics of a wheel of a motor vehicle.
10. A data transmission method according to claims 8 and 9, wherein: - the first computer component (100) sends frames containing data relating to wheel rotation speed, obtained from a rotation sensor integrated into the first wheel of the motor vehicle, - the third computer component (400) sends frames, each containing its time of transmission and data relating to a pressure and / or temperature of a predetermined wheel of said motor vehicle, - the second computer component (200) receives the frames from the first computer component (100) and implements steps i) to vi) to determine their transmission times (t b t2, t3, t4, t5) respectively, and - data relating to the rotational speed of the first wheel, associated with their times of emission (t bt2, t3, t4, t5) respectively determined by the second computer component (200), are correlated with the data relating to pressure and / or temperature, so as to assign to said predetermined wheel of the motor vehicle the data relating to the rotation speed of the first wheel.
11. Motor vehicle (1) comprising: - a communication network (300), - a first computer component (100) adapted to transmit frames over said communication network (300) with a predetermined sampling frequency, and - a second computer component (200) adapted to read the frames coming from said communication network (300), characterized in that the second computer component (200) is programmed to implement a data transmission method according to any one of claims 1 to 10.