Vehicular control system with synchronized communication between control units

Abstract

A vehicular control system includes a first electronic control unit (ECU) and a second ECU disposed at a vehicle. The first ECU transmits a first propagation delay frame to the second ECU, which, responsive to receiving the first propagation delay frame, transmits a second propagation delay frame to the first ECU. The first ECU, responsive to receiving the second propagation delay frame, determines a propagation delay based on a time interval between (i) a first point in time when the first ECU transmits the first propagation delay frame to the second ECU and (ii) a second point in time when the first ECU receives the second propagation delay frame from the second ECU. The first ECU transmits a time synchronization frame to the second ECU that includes the determined propagation delay. The second ECU adjusts synchronization of a clock based on the time synchronization frame.

Description

FIELD OF THE INVENTION

The present invention relates generally to a vehicle control system for a vehicle and, more particularly, to a vehicle control system that synchronizes control units.

BACKGROUND OF THE INVENTION

Use of time synchronization between modules in a control system is common and known.

SUMMARY OF THE INVENTION

A vehicular control system includes a first electronic control unit (ECU) disposed at a vehicle equipped with the vehicular control system. The system includes a second ECU disposed at the equipped vehicle. The first ECU and the second ECU are in digital communication with one another via a communication link. The digital communication via the communication link includes communication of a first frame and communication of a second frame. The first ECU transmits the first frame to the second ECU via the communication link. The first frame includes a first bit pattern having a first sequence of binary digits. The second ECU, responsive to receiving the first frame from the first ECU, transmits the second frame to the first ECU via the communication link. The second frame includes a second bit pattern having a second sequence of binary digits. The first ECU, responsive to receiving the second frame from the second ECU, determines a propagation delay based on a time interval between (i) when the first ECU transmits the first frame to the second ECU and (ii) when the first ECU receives the second frame from the second ECU. The first ECU transmits a time synchronization frame to the second ECU via the communication link. The time synchronization frame is based at least in part on the determined propagation delay.

These and other objects, advantages, purposes and features of the present invention will become apparent upon review of the following specification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view of a time master electronic control unit and a time slave electronic control unit exchanging bit patterns;

FIG. 2 is a table for a frame format for a synchronization message;

FIG. 3 is a schematic view of total propagation delay determination for the time slave electronic control unit and the time master electronic control unit of FIG. 1 when a switch device is used;

FIG. 4 is a diagram of time synchronization between the time master electronic control unit and the time slave electronic control unit of FIG. 1; and

FIG. 5 is a block diagram for a transceiver with a timer for calculation of propagation delay.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Many vehicle systems require an accurate clock or time to properly function. Thus, it is often important to accurately synchronize time between different vehicle systems, controllers, sensors, and/or modules. Vehicle time is commonly distributed by a master clock to a slave clock using, for example, the precision time protocol (PTP). Time synchronization using PTP requires two distinct communication frames (i.e., a sync frame and follow-up frame), such as two Ethernet frames, that can be sent cyclically. Precision time protocol also includes PDelay requests and PDelay responses that add additional Ethernet frames. In total, four Ethernet frames are needed to synchronize time at a slave electronic control unit (ECU) from master ECU using PTP. Implementations herein include a vehicular control system that provides time synchronization with a single Ethernet frame that includes a timestamp, thus reducing overhead for synchronization between controls. These implementations may be applied to any topology or to multi-time master ECUs.

In the vehicular control system described herein, a time master ECU sends a timestamp of the current time in a single Ethernet frame along with propagation delay corrections and back off time corrections. A receiver and/or time slave ECU (i.e., a second ECU independent or separate from the time master ECU) receives the single Ethernet frame with the timestamp and correction time attached to or within. The propagation time and back off time may be calculated by the transceiver of the time master ECU transmitting the frame using, for example, an internal hardware timer module.

Referring now to FIG. 1, the propagation delay may be determined by first, after power on, linking up a time master ECU transceiver 10 and a time slave ECU transceiver 12. To establish the link, each transceiver sends a pattern of pulses (i.e., logic ‘0’ signals and logic ‘1’ signals) and receives back a pattern of pulses. Using these pulses, the transceivers can negotiate a link for communication between the time master ECU and the time slave ECU. The amount of time required for setting up the link may vary based on the specific Ethernet transceivers. Once the link is established, the time master ECU sends a special or specific bits pattern for measuring propagation delay.

For example, the Ethernet transceiver of the time master ECU sends specific patterns of bits, such as the binary number “1010101010101111,” that indicates the calculation for propagation delay and starts an internal hardware timer. The Ethernet transceiver of the time slave ECU receives the pattern of bits transmitted by the time master ECU and responds with another specific pattern, such as the binary number “1010101011111111.” The time master ECU transceiver receives back the response from the time slave ECU and stops the internal hardware timer that the time master ECU started when sending the initial specific pattern of bits. The time master ECU divides the results of the timer by 2 as the timer timed both transmission and reception of the patterns. The timer measures the propagation time (Tp) with no Ethernet traffic. This time Tp should be added to every timestamp frame as the correction or time needed for communication from one transceiver to other (i.e., the time for a signal to propagate from one ECU to the other ECU). The transceiver of the time master ECU stores this Tp in a hardware register (FIG. 5) during the execution cycle. This time Tp may be added to every outgoing time synchronization frame.

Referring now to FIG. 2, optionally, the vehicular control system provides additional time corrections. For example, another useful time correction is when there is Ethernet traffic on a bus and the time master ECU is waiting for bus to be free. The Ethernet transceiver at the time master ECU may listen on the physical medium (i.e., of the bus) to determine when the medium is free and when the time sync message must be transmitted. If the medium is free, the back off time is set to 0 and only Tp is valid (i.e., the only delay is the propagation delay). The Ethernet transceiver of the time master ECU detects the timestamp frame for transmission by checking the frame type. It starts the internal hardware timer from when the physical medium is occupied until the medium is free for transmitting a frame. If the frame results in “back off” due to a collision (i.e., two or more transceivers each sent a frame at the same time resulting in both entering back off) on the physical medium, the timer resumes from the last point it had stopped (i.e., from the point where the frame was sent). Once the frame is transmitted, this back off time Tb is added to propagation time Tp and sent along with the frame. Thus, in this scenario, Tp+Tb (i.e., the sum of Tp and Tb) is the total propagation time for sending timestamp frames from time master ECU to time slave ECU. This sum results in Tc, which is the total correction time the time slave ECU receives when receiving the frame with the timestamp (i.e., the time slave ECU adjusts the timestamp by Tc).

The frame type may be a 16 bit field to indicate time sync frame. Other sized bit fields are also possible (e.g., 8 bits, 32 bits, 64 bits, etc.). The time stamp seconds may be a 32 or 64 bit field for the seconds generated on the time master ECU. The time stamp Nanoseconds may be, for example, a 32 or 64 bit field for the nanoseconds generated on the time master ECU. The correction time seconds may be, for example, an 8 bit or 16 bit field for the correction time in seconds. Correction time may include the sum of propagation time (Tp) and back off time (Tb) and correction time from the previous transmission (Tpc). The correction time nanoseconds may be, for example, a 32 bit field for nanoseconds. The correction time includes the sum of propagation time (Tp) with back off time (Tb) and correction time from the previous transmission (Tpc).

Referring now to FIG. 3, optionally, when there are multiple devices in between the time master ECU and the time slave ECU (i.e., intermediary devices), the correction time is added accordingly. Both the timestamp (i.e., the propagation delay Tp and the back off delay Tb) and Tc should generally be considered for synchronization time. The total correction time Tc may be the time sent by a previous master switch device 14 (i.e., Tsw) which receives frames from the time master ECU and forwards the frames to the time slave ECU. For each connection of ECUs, the time Tc is calculated by the same method as described above. Additionally, the time correction from the previous link (Tpc) is added to current the Tc to have an accurate correction in time.

Referring now to FIG. 4, an example for synchronizing time from time master to time slave ECU is illustrated. In this example, the time master ECU begins synchronizing when a time value is equal to 100 seconds. After the initial link establishment, propagation time is measured as Tp=1 second. This time is added for every synchronization request from master along with back off time (Tb). In the first synchronization request, Tb=1 second. Thus, the time slave ECU receives time=100 seconds+2 seconds=102 seconds. The slave ECU synchronizes to the time 102 seconds based on the correction sent with the timestamp. During the second synchronization request, at a time value of 104 seconds (i.e., 4 seconds after the initial starting time value of 100 seconds), at the time master ECU, Tc=3 s. Thus, the time slave ECU synchronizes to 107 seconds. Thus, the time master and the time slave ECUs are synchronized accurately with a common time.

Ingress timestamp and egress timestamp corrections may not be considered in the timestamp fields in the frame format. The time should be corrected to the exact point in time at the time master ECU when the frame is assembled in the Ethernet MAC descriptor and is ready for transmission. In the case when the packets are queued in the descriptor chain, the final time should be used when the frame is transmitted from the Ethernet controller (MAC) to the Ethernet transceiver (TRCV) to achieve exact time synchronization. Similarly, the time slave ECU implements correction in time from the received frame until the processing of the synchronization frame. This correction is added to the synchronized time for increased accuracy.

Referring now to FIG. 5, the block diagram 500 of the transceiver 510 includes a propagation time control block that controls the sending and receiving of the specific bit patterns for measuring the propagation delay. The propagation time control may also access the internal hardware timer to start the timer, stop the timer, and access register values. A back off time control block controls the internal hardware timer when a back off is detected on the physical medium. The back off time control may also access the internal hardware timer to start the timer, stop the timer, and copy values. The internal hardware timer may be a free running timer. A register to store Tp, a register to store Tb, and a register to store Tpc are each registers that store Tp, Tb, and Tpc respectively (i.e., store the respective times). The “Calculate Tc” block consolidates all of the stored times (i.e., Tp, Tb, and Tpc) together and updates, in the time synchronization frame, for field correction time Tc.

Thus, the vehicular control system allows for a time master ECU to synchronize time with other ECUs with a single Ethernet frame that includes a timestamp. The single Ethernet frame includes a correction time for achieving synchronization with reduced traffic on time sync frames. In conventional time sync methods using PTP, sync and follow-up messages are configured for 125 ms and PDelay requests and responses for 1 second. In this case, 18 frames per second are needed for time synchronization. This adds additional traffic on the Ethernet bus. However, this additional traffic is greatly reduced by the vehicular control system described herein. For example, as opposed to 18 frames per second, the vehicular control system can be used in such a way that sync requests (of a single Ethernet frame) are sent every 125 ms using only low-level hardware (i.e., within the transceiver). This example results in 8 frames per second which is a reduction of greater than 50 percent. Because the transceiver sends/recognizes the bit patterns (i.e., the binary sequence of ‘1’s and ‘0’s) within the hardware of the transceiver, the system allows for rapid and accurate propagation delay that does not incur the overhead costs and delays of software processing. Because the amount of Ethernet traffic used by the automotive industry is increasing rapidly, the bandwidth on the Ethernet bus is becoming a notable problem between communication partners. Thus, the bandwidth reductions achieved by the vehicular control system are advantageous.

In conventional Ethernet systems, propagation delay is calculated with transmission of multiple Ethernet frames with pdelay request and pdelay response frames. Software is then used to calculate the propagation delay. In contrast, implementations herein include a system that determines propagation delay using Ethernet transceiver hardware (as opposed to software) and a single Ethernet frame (as opposed to multiple Ethernet frames). The system uses bit pattern exchanges from one transceiver to another to measure propagation delay. The Ethernet transceivers can send propagation delays for each transmitted Ethernet frame in the frame itself. Propagation delay between the communication partners is thus calculated in the same Ethernet frame instead of a traditional request/response format.

The ECU, such as the master ECU and/or slave ECU (i.e., a first ECU and/or a second ECU), may be part of a driving assist system of the vehicle. For example, one or both of the ECUs may generate a respective output for one or more driving assist systems of the vehicle, such as for an object detection system of the vehicle, a collision avoidance system of the vehicle, a pedestrian detection system of the vehicle, a headlamp control system of the vehicle, a lane departure warning system of the vehicle, a lane keep assist system of the vehicle, an adaptive cruise control system of the vehicle, and/or an automatic emergency braking system of the vehicle. The output or outputs may at least in part control one or more of the driving assist systems or one or more functions or operations of the vehicle. For example, the master or first or control ECU may be disposed in the vehicle and the slave or second ECU may be part of a camera or sensor or sensing system of the vehicle, and the synchronized outputs of the ECUs may control or provide outputs for one or more of the driving assist systems (e.g., automatic breaking systems, lane keep systems, lane centering systems, adaptive cruise control systems, etc.) of the vehicle.

The vehicle may include any type of sensor or sensors, such as imaging sensors or radar sensors or lidar sensors or ultrasonic sensors or the like. The imaging sensor or camera may capture image data for image processing and may comprise any suitable camera or sensing device, such as, for example, a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows (at least a 640×480 imaging array, such as a megapixel imaging array or the like), with a respective lens focusing images onto respective portions of the array. The photosensor array may comprise a plurality of photosensor elements arranged in a photosensor array having rows and columns. The imaging array may comprise a CMOS imaging array having at least 300,000 photosensor elements or pixels, preferably at least 500,000 photosensor elements or pixels and more preferably at least 1 million photosensor elements or pixels arranged in rows and columns. The imaging array may capture color image data, such as via spectral filtering at the array, such as via an RGB (red, green and blue) filter or via a red/red complement filter or such as via an RCC (red, clear, clear) filter or the like. The logic and control circuit of the imaging sensor may function in any known manner, and the image processing and algorithmic processing may comprise any suitable means for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/or circuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641; 9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401; 9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169; 8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, and/or U.S. Publication Nos. US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658; US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772; US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012; US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354; US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009; US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291; US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426; US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646; US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907; US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869; US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099; US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are all hereby incorporated herein by reference in their entireties. The system may communicate with other communication systems via any suitable means, such as by utilizing aspects of the systems described in U.S. Pat. Nos. 10,071,687; 9,900,490; 9,126,525 and/or 9,036,026, which are hereby incorporated herein by reference in their entireties.

Changes and modifications in the specifically described embodiments can be carried out without departing from the principles of the invention, which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law including the doctrine of equivalents.

Claims

1. A vehicular control system, the vehicular control system comprising: a first electronic control unit (ECU) disposed at a vehicle equipped with the vehicular control system;a second ECU disposed at the equipped vehicle;wherein the first ECU and the second ECU are in digital communication with one another via a communication channel, and wherein the digital communication comprises communication of a first propagation delay frame and communication of a second propagation delay frame;wherein the first ECU transmits the first propagation delay frame to the second ECU;wherein the second ECU, responsive to receiving the first propagation delay frame from the first ECU, transmits the second propagation delay frame to the first ECU;wherein the first ECU, responsive to receiving the second propagation delay frame from the second ECU, determines a propagation delay based on a time interval between (i) a first point in time when the first ECU transmits the first propagation delay frame to the second ECU and (ii) a second point in time when the first ECU receives the second propagation delay frame from the second ECU;wherein the first ECU determines a back off time delay resulting from simultaneous transmissions by the first ECU and the second ECU on the communication channel;wherein the first ECU transmits a time synchronization frame to the second ECU, and wherein the time synchronization frame comprises the determined propagation delay and the back off time delay; andwherein the second ECU adjusts synchronization of a clock based on the time synchronization frame.

2. The vehicular control system of claim 1, wherein the time synchronization frame comprises a total propagation delay which comprises a sum of the propagation delay and the back off time delay.

3. The vehicular control system of claim 1, wherein the first ECU comprises a first transceiver and the second ECU comprises a second transceiver, and wherein the first propagation delay frame is transmitted by the first transceiver and received by the second transceiver and the second propagation delay frame is transmitted by the second transceiver and received by the first transceiver.

4. The vehicular control system of claim 1, wherein the first propagation delay frame indicates to the second ECU an intent to determine the propagation delay between the first ECU and the second ECU.

5. The vehicular control system of claim 1, wherein the first ECU determines the propagation delay based on a timer that (i) is started when the first ECU transmits the first propagation delay frame to the second ECU and (ii) is terminated when the first ECU receives the second propagation delay frame from the second ECU.

6. The vehicular control system of claim 5, wherein the first ECU determines the propagation delay by dividing a result of the timer by two.

7. The vehicular control system of claim 5, wherein the timer is an internal hardware timer.

8. The vehicular control system of claim 1, further comprising a switch, wherein the first ECU transmits the time synchronization frame to the second ECU via the switch, and wherein the switch transmits the time synchronization frame to the second ECU with a switch propagation delay summed with the propagation delay.

9. The vehicular control system of claim 1, wherein the first ECU and the second ECU are in digital communication with one another via an Ethernet communication link.

10. The vehicular control system of claim 1, wherein the first ECU stores the determined propagation delay.

11. The vehicular control system of claim 1, wherein the first ECU is part of a driving assist system of the vehicle.

12. The vehicular control system of claim 1, wherein the time synchronization frame comprises a timestamp indicative of a point in time when the time synchronization frame is transmitted by the first ECU.

13. The vehicular control system of claim 1, wherein the first propagation delay frame comprises a first bit pattern having a first sequence of binary digits, and wherein the second propagation delay frame comprises a second bit pattern having a second sequence of binary digits.

14. A vehicular control system, the vehicular control system comprising: a first electronic control unit (ECU) disposed at a vehicle equipped with the vehicular control system;a second ECU disposed at the equipped vehicle;wherein the first ECU and the second ECU are in digital communication with one another via an Ethernet communication link, and wherein the digital communication comprises communication of a first propagation delay frame and communication of a second propagation delay frame;wherein the first ECU transmits the first propagation delay frame to the second ECU;wherein the first propagation delay frame indicates to the second ECU an intent to determine a propagation delay between the first ECU and the second ECU;wherein the second ECU, responsive to receiving the first propagation delay frame from the first ECU, transmits the second propagation delay frame to the first ECU;wherein the first ECU, responsive to receiving the second propagation delay frame from the second ECU, determines the propagation delay based on a time interval between (i) a first point in time when the first ECU transmits the first propagation delay frame to the second ECU and (ii) a second point in time when the first ECU receives the second propagation delay frame from the second ECU;wherein the first ECU determines a back off time delay resulting from simultaneous transmissions by the first ECU and the second ECU on the Ethernet communication link;wherein the first ECU transmits a time synchronization frame to the second ECU, and wherein the time synchronization frame comprises the determined propagation delay and the back off time delay; andwherein the second ECU adjusts synchronization of a clock based on the time synchronization frame.

15. The vehicular control system of claim 14, wherein the time synchronization frame comprises a total propagation delay which comprises a sum of the propagation delay and the back off time delay.

16. The vehicular control system of claim 14, wherein the first ECU comprises a first transceiver and the second ECU comprises a second transceiver, and wherein the first propagation delay frame is transmitted by the first transceiver and received by the second transceiver and the second propagation delay frame is transmitted by the second transceiver and received by the first transceiver.

17. The vehicular control system of claim 14, wherein the first ECU determines the propagation delay based on a timer that (i) is started when the first ECU transmits the first propagation delay frame to the second ECU and (ii) is terminated when the first ECU receives the second propagation delay frame from the second ECU.

18. The vehicular control system of claim 17, wherein the first ECU determines the propagation delay by dividing a result of the timer by two.

19. The vehicular control system of claim 17, wherein the timer is an internal hardware timer.

20. The vehicular control system of claim 14, further comprising a switch, wherein the first ECU transmits the time synchronization frame to the second ECU via the switch, and wherein the switch transmits the time synchronization frame to the second ECU with a switch propagation delay summed with the propagation delay.

21. The vehicular control system of claim 14, wherein the first ECU stores the determined propagation delay.

22. The vehicular control system of claim 14, wherein the first ECU is part of a driving assist system of the vehicle.

23. A vehicular control system, the vehicular control system comprising: a first electronic control unit (ECU) disposed at a vehicle equipped with the vehicular control system;a second ECU disposed at the equipped vehicle;wherein the first ECU comprises a first transceiver and the second ECU comprises a second transceiver;wherein the first ECU and the second ECU are in digital communication with one another via a communication channel, and wherein the digital communication comprises communication of a first propagation delay frame and communication of a second propagation delay frame;wherein the first propagation delay frame is transmitted by the first transceiver and received by the second transceiver and the second propagation delay frame is transmitted by the second transceiver and received by the first transceiver;wherein the first ECU transmits the first propagation delay frame to the second ECU;wherein the second ECU, responsive to receiving the first propagation delay frame from the first ECU, transmits the second propagation delay frame to the first ECU;wherein the first ECU, responsive to receiving the second propagation delay frame from the second ECU, determines a propagation delay based on a time interval between (i) a first point in time when the first ECU transmits the first propagation delay frame to the second ECU and (ii) a second point in time when the first ECU receives the second propagation delay frame from the second ECU;wherein the first ECU determines a back off time delay resulting from simultaneous transmissions by the first ECU and the second ECU on the communication channel;wherein the first ECU transmits a time synchronization frame to the second ECU, and wherein the time synchronization frame comprises the determined propagation delay and the back off time delay;wherein the second ECU adjusts synchronization of a clock based on the time synchronization frame; andwherein the first ECU is part of a driving assist system of the vehicle.

24. The vehicular control system of claim 23, wherein the time synchronization frame comprises a total propagation delay which comprises a sum of the propagation delay and the back off time delay.

25. The vehicular control system of claim 23, wherein the first propagation delay frame indicates to the second ECU an intent to determine the propagation delay between the first ECU and the second ECU.

26. The vehicular control system of claim 23, wherein the first ECU determines the propagation delay based on a timer that (i) is started when the first ECU transmits the first propagation delay frame to the second ECU and (ii) is terminated when the first ECU receives the second propagation delay frame from the second ECU.

27. The vehicular control system of claim 26, wherein the first ECU determines the propagation delay by dividing a result of the timer by two.

28. The vehicular control system of claim 26, wherein the timer is an internal hardware timer.

29. The vehicular control system of claim 23, further comprising a switch, wherein the first ECU transmits the time synchronization frame to the second ECU via the switch, and wherein the switch transmits the time synchronization frame to the second ECU with a switch propagation delay summed with the propagation delay.

30. The vehicular control system of claim 23, wherein the first ECU and the second ECU are in digital communication with one another via an Ethernet communication link.

31. The vehicular control system of claim 23, wherein the first ECU stores the determined propagation delay.

32. The vehicular control system of claim 23, wherein the driving assist system comprises a collision avoidance system of the vehicle.

33. The vehicular control system of claim 23, wherein the driving assist system comprises a pedestrian detection system of the vehicle.

34. The vehicular control system of claim 23, wherein the driving assist system comprises an adaptive cruise control system of the vehicle.