Method and computer system for operating at least two interconnected control units

• US 7,725,230 B2
• Filed: 09/16/2003
• Issued: 05/25/2010
• Est. Priority Date: 09/16/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Fink, Peter, Lunt, Martin, Illg, Bernd, Knoefler, Eckehard, Hafner, Arno, Lang, Tobias
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US10/527,601
• Publication Number:
  US 20060235594A1
• Time in Patent Office: 2,443 Days
• Field of Search: 701/202, 701/48, 340/531, 340/435
• US Class Current: 701/48
• CPC Class Codes: F02D 41/266 the computer being backed-up or assisted by another circuit, e.g. analogue
• CPC Class Codes: G05B 19/0421 Multiprocessor system
• CPC Class Codes: G05B 2219/2212 All processors are loaded with same program, only part of program is used
• CPC Class Codes: G05B 2219/2213 Local processor uses data from own local store and data from other stations
• CPC Class Codes: G05B 2219/2219 Processor starts application program only if it receives predetermined data
• CPC Class Codes: G05B 2219/2236 Master determines critical time when each of slaves must be controlled
• CPC Class Codes: G05B 2219/25483 Synchronize several controllers using messages over data bus
• CPC Class Codes: G05B 2219/2637 Vehicle, car, auto, wheelchair

Abstract

A method and a computer system for operating at least two interconnected control units. The control units access sensor data and each execute at least one computer program for controlling operational sequences, in particular in a vehicle. The control units exchange synchronization information with one another. In order to design and refine a computer system in a way that will enable even especially complex operational sequences, as required in a modern motor vehicle, for example, to be controlled and/or regulated simply and cost-effectively with the aid of the computer system, using conventional control units, the control units execute the same computer program time-synchronously using a settable time lag.

Claims

1. A method for operating at least two interconnected control units, the method comprising:

accessing sensor data with the control units, each of the control units having a housing with a plurality of inputs for connecting to a plurality of sensors and processors, wherein one of the control units is a master control unit and the remaining control unit is a slave control unit that receives synchronization information from the master unit;

executing at least one software program for controlling operational sequences on all the control units, in a vehicle; and

continuously synchronizing the control units by continuously transmitting synchronization information between the control units;

wherein the control units execute the same software program time-synchronously using a settable time lag.

2. The method of claim 1, wherein the same sensor data are available in the control units.

3. The method of claim 1, wherein, in each case, the control units receive only one portion of all sensor data from the sensors, and the control units exchange sensor data, so that all sensor data are available in each control unit.

4. The method of claim 1, wherein, in the individual control units, the system holds off on executing the software programs time-synchronously while accessing the sensor data until all up-to-date sensor data are available in each control unit.

5. The method of claim 1, wherein the time lag is adjusted as a function of the time duration required for exchanging the sensor data among the control units.

6. The method of claim 5, wherein the time lag is regulated as a function of the time duration required for exchanging the sensor data among the control units.

7. The method of claim 5, wherein the time lag is adjusted or regulated in a damped manner as a function of the time duration required for exchanging the sensor data among the control units.

8. The method of claim 1, wherein the time lag is adjusted during operation of the control units.

9. The method of claim 1, wherein the control units are synchronized solely by exchanging useful data via the data transmission media, without transmitting separate synchronization information.

10. A computer system comprising:

at least two continuously interconnected control units, each of the control units having a housing with a plurality of inputs for connecting to a plurality of sensors and processors, wherein one of the control units is a master control unit and the remaining control unit is a slave control unit that receives synchronization information from the master unit; and

a data transmission medium that connects the control units to continuously exchange synchronization information between the control units,

wherein the control units access sensor data and execute in each case at least one software program for controlling operational sequences, in a vehicle, and

wherein the control units execute the same computer program time-synchronously using a time lag that is adjustable by setting arrangement.

11. The computer system of claim 10, wherein the master control unit transmits synchronization information to the slave control units.

12. The computer system of claim 11, wherein once the system is booted up, the slave control units are automatically synchronized to the time base of the master control unit.

13. The computer system of claim 10, wherein:

only one portion of the sensors is connected in each case to the control units, and in each case, the control units receive only one portion of all sensor data, and the control units exchange sensor data via the data transmission medium, so that all sensor data are available in each of the control units.

14. The computer system of claim 13, wherein the sensors are assigned to the control units and are linked to the control units assigned to them respectively so that, during operation of the computer system, a substantially uniform usage results on the average over time on the data transmission medium in both transmission directions.

15. The computer system of claim 10, wherein the individual control units include an arrangement for holding off on executing the software programs time-synchronously while accessing the sensor data until all up-to-date sensor data are available in each of the control units.

16. The computer system of claim 10, wherein each of the control units is subdivided into a hardware level, a hardware driver level, and an application software level, the computer program being for controlling the operational sequences running in the application software level, and the sensor data being transmitted independently of the application software level in the hardware driver level.

17. The computer system of claim 10, wherein the data are transmitted via the data transmission medium in accordance with the CAN (controller area network) protocol.