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1. 发明授权

US10285145B2 Method for deterministic wireless transfer of time-controlled real-time messages in a distributed real-time system 有权
公开(公告)号：US10285145B2
公开(公告)日：2019-05-07
申请号：US15316201
申请日：2015-06-08
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Hermann Kopetz
IPC分类号： H04W56/00 , H04W84/12 , H04W88/08
摘要： The invention relates to a method for deterministic wireless transfer of time-triggered real-time messages in a distributed real-time system, which real-time system comprises a plurality of node computers and one or more base stations, which are arranged in an arena, wherein all node computers and base stations have a global time, wherein one or more real-time message sequences are periodically transferred in the arena, wherein a real-time message sequence consists of a time-triggered header message with variable length and a sequence of one or more time-triggered real-time messages with a priori known length, and wherein, at an a priori determined transmission time, the software of a T-node issues, to a communication controller thereof, the command to send the header message, and wherein the communication controller of the T-node starts to send the header message as soon as no activity is determined in the arena during an IFS, and wherein the sending of the header message is aborted at an a priori determined time-triggered abort time of the T-node, and wherein, in a command interval before the abort time of the header message, the software of the computer node that has to send the first real-time message of the real-time message sequence issues, to the communication controller thereof, the command to send the first real-time message of the real-time message sequence, and wherein, in the command interval before the termination of the first real-time message, the software of the computer node that has to send the following real-time message of the real-time message sequence issues, to the communication controller thereof, the command to send the following real-time message, and wherein this process is repeated until all real-time messages of a real-time message sequence have been sent.

2. 发明授权

US10050805B2 Method for transmitting messages in a computer network and computer network 有权
公开(公告)号：US10050805B2
公开(公告)日：2018-08-14
申请号：US14914826
申请日：2014-09-01
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Christian Fidi
IPC分类号： H04J3/06 , H04L12/44 , H04L12/403 , H04L12/417 , H04L12/40
摘要： The invention concerns a method for transmitting messages in a computer network, wherein the computer network comprises a first set of computing nodes (101-105), which computing nodes (101-105) are connected to each other by means of at least one star coupler (201, 202) and/or at least one multi-hop network (1000), wherein each of the computing nodes of the first set of computing nodes (101-105) is connected by means of at least one communication line (110) to the at least one star coupler (201, 201) or the at least one multi-hop network (1000), and wherein the computing nodes (101-105) exchange Ethernet messages with each other and the exchange of at least some of the Ethernet messages of the computing nodes (101-105) occurs in time controlled manner. It is provided that a) the computer network comprises a second set of computing nodes (106-108), which are connected to each other by a bus (210), and wherein the bus (210) is connected to the at least one star coupler (201) and/or the at least one multi-hop network (1000), and wherein b) the second set of computing nodes (106-108) exchange Ethernet messages with each other and the exchange of at least some of the Ethernet messages of the computing nodes (106-108) occurs in time controlled manner, and wherein preferably c) the second set of computing nodes (106-108) exchange Ethernet messages with the first set of computing nodes (101-105) and the exchange of at least some of the Ethernet messages of the computing nodes (101-108) occurs in time controlled manner.

3. 发明授权

US10019292B2 Method for executing a comprehensive real-time computer application by exchanging time-triggered messages among real-time software components 有权
公开(公告)号：US10019292B2
公开(公告)日：2018-07-10
申请号：US15007317
申请日：2016-01-27
申请人： FTS Computertechnik GmbH
发明人： Hermann Kopetz , Stefan Poledna
IPC分类号： G06F9/50 , G06F9/455 , G06F9/48
CPC分类号： G06F9/5077 , G06F9/45558 , G06F9/4887 , G06F2009/4557
摘要： A method for executing a comprehensive real-time computer application including an application software including a description of functions on a distributed real-time computer system including sensors, actuators, computing nodes, and distributor units having access to a global time. The application software including a number of real-time software components (RTSWCs). When executed, the RTSWCs exchange information by time-triggered messages. Each RTSWC is allocated a time-triggered virtual machine TTVM, wherein, during a service interval SI, an operating system running on a computing node provides a TTVM realized on the computing node with protected access to the network resources and memory resources of the computing node assigned to the TTVM, and wherein, during the SI, a defined computing power for processing the RTSWCs running in the TTVM is allocated to the TTVM by the operating system of the computing node such that the RTSWCs provide a result before the end of the SI.

4. 发明授权

US09898670B2 Method and device for observing the environment of a vehicle 有权
公开(公告)号：US09898670B2
公开(公告)日：2018-02-20
申请号：US15103952
申请日：2014-12-05
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna
IPC分类号： G06K9/00 , G06K9/20 , G06K9/32 , H04N13/02 , B60R1/00 , H04N13/00 , G06K9/62
CPC分类号： G06K9/00805 , B60R1/00 , B60R2300/107 , B60R2300/301 , B60R2300/303 , G06K9/00362 , G06K9/209 , G06K9/32 , G06K9/6289 , H04N13/106 , H04N13/239
摘要： The invention relates to monitoring the area in front of a vehicle by means of an apparatus that comprises at least two imaging devices (110, 120). Provided are a first imaging device (110), which covers a first imaging angle, and a second imaging device (120), which covers a second, greater imaging angle. The first imaging device (110) covers a first zone (111) of the area in front of the vehicle, while at the same time, the second imaging device (120) covers a second zone (121) of the area in front of the vehicle. The two imaging devices (110, 120) are positioned spaced, in particular spaced laterally, from one another such that a central area (140) is covered by both the first and the second imaging devices (110, 120). By fusing the data acquired by the imaging devices (110, 120), a stereo image of the central area is generated, while monoscopic images are generated of those zones that are each covered by only a first or a second imaging device.

5. 发明授权

US09860191B2 Method for constructing optimal time-controlled paths in a large computer network 有权
公开(公告)号：US09860191B2
公开(公告)日：2018-01-02
申请号：US14410503
申请日：2013-04-19
申请人： FTS Computertechnik GmbH
发明人： Hermann Kopetz
IPC分类号： H04L12/911 , G06F9/50 , H04L12/24
CPC分类号： H04L47/783 , G06F9/5072 , G06F2209/5014 , H04L41/5096 , H04L47/72
摘要： Embodiments of the invention relate to the dynamic creation of TT paths in a large computer network having computer nodes, communication channels, and distribution modules (DMs), which all have access to a global time base, wherein a scheduling instance, aimed at establishing a time-controlled path with specified path time characteristics from a transmitting to a receiving node along an existing virtual connection (VC), requests from each DM in the VC all the TT path descriptor lists (TTPDLs) confirmed by said DMs, then transmits the specified path time characteristics and all confirmed TTPDLs to a dynamic scheduler that creates a new TTPDL for each DM in the VC, the existing reserved TTPDLs of the DMs affected remaining unchanged, wherein the corresponding new TTPDLs are transmitted to each DM in the VC, and wherein each DM in the VC reserves the TT path requested and confirms the reservation to the scheduling instance.

6. 发明授权

US09766964B2 Method for detecting a failure of a constituent system in a system-of-systems 有权
公开(公告)号：US09766964B2
公开(公告)日：2017-09-19
申请号：US15024938
申请日：2014-09-25
申请人： FTS Computertechnik GmbH
发明人： Hermann Kopetz
IPC分类号： G06F11/00 , G06F11/07
CPC分类号： G06F11/076 , G06F11/0709 , G06F11/0757 , G06F11/0772 , G06F11/079
摘要： A process to detect a failure of a constituent system (110 . . . 113) in a system of systems (1) consisting of a number of constituent systems (111 . . . 113) which exchange messages through a communications system (120), in which every constituent system (111 . . . 113) has a global time with a known granularity g, and at least one constituent system creates, at periodic creation times (210, 211) determined a priori from the progression of the global time, a time-triggered life-sign message, the time of transmission (211, 221) of this life-sign message in the time-triggered communications system (120), determined a priori from the progression of the global time, is synchronized with the creation time of this life-sign message, and the time of receipt (212, 222) of this life-sign message, determined a priori from the progression of the global time, is synchronized with the timeout time point (213, 223), determined a priori from the progression of the global time, of a monitor (130) of this life-sign message monitoring the arrival of the life-sign message, wherein an error message is triggered at the timeout time point if no life-sign message has arrived at the expected time of receipt (222).

7. 发明申请

US20170161116A1 Method for Realising and for Executing a Comprehensive Real-Time Computer Application 有权
公开(公告)号：US20170161116A1
公开(公告)日：2017-06-08
申请号：US15007317
申请日：2016-01-27
申请人： FTS Computertechnik GmbH
发明人： Hermann KOPETZ , Stefan POLEDNA
IPC分类号： G06F9/50 , G06F9/455
CPC分类号： G06F9/5077 , G06F9/45558 , G06F9/4887 , G06F2009/4557
摘要： The invention relates to a method for executing a real-time computer application, in particular a comprehensive real-time computer application, wherein a description of functions or of the functions of the real-time computer application is contained in an application software, or for executing an application software, which application software contains a description of functions or of the functions of the real-time computer application, in particular of the comprehensive real-time computer application, on a distributed real-time computer system, which real-time computer system comprises a multiplicity of sensors, actuators, computing nodes and distributor units, and wherein the sensors, actuators, computing nodes and distributor units have access to a global time. The application software is divided into a number of real-time software components RTSWCs, in particular into a plurality of real-time software components RTSWCs, wherein, when the real-time computer application or the application software is executed, the RTSWCs can exchange information by means of time-controlled messages, and wherein each RTSWC is allocated a time-triggered virtual machine TTVM, wherein, during a service interval SI, an operating system running on a computing node provides a TTVM realised on this computing node with protected access to the network resources and memory resources of the computing node assigned to this TTVM, and wherein, during the SI, a defined computing power for processing the RTSWCs running in the TTVM is allocated to the TTVM by the operating system of the computing node in such a way that the RTSWCs can provide a result before the end of the SI.

8. 发明授权

US09606538B2 Device and method for the autonomous control of motor vehicles 有权
公开(公告)号：US09606538B2
公开(公告)日：2017-03-28
申请号：US14775993
申请日：2014-03-13
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Hermann Kopetz
IPC分类号： G05D1/00 , G05D1/02 , B60W30/09 , B60W10/18 , B60W10/20 , H04L12/403 , B60W30/14 , H04L12/40 , H04L12/44
CPC分类号： G05D1/0088 , B60W10/18 , B60W10/20 , B60W30/09 , B60W30/143 , B60W2550/30 , B60W2720/10 , B60W2750/308 , G05D1/0055 , G05D1/021 , H04L12/40182 , H04L12/403 , H04L2012/40273 , H04L2012/445
摘要： The invention relates to a device for controlling the braking and/or steering and/or acceleration in a motor vehicle, wherein the device has a number of different sensor components, two diverse sensor fusion components, a man/machine interface component and a preferably intelligent actuator controller component, wherein each of these components constitutes a fault-containment unit and has a TTEthernet communications interface, and wherein all components are connected to a central TTEthernet message distribution unit, and wherein the components communicate with one another exclusively with use of standardized Ethernet messages, and wherein a diagnosis unit for time-correct monitoring of the exchanged messages can be connected to the TTEthernet message distribution unit.

9. 发明申请

US20170070439A1 ONLINE INCREMENTAL SCHEDULING METHOD FOR DETERMINISTIC NETWORKS 审中-公开
标题翻译：用于确定性网络的在线增量调度方法
公开(公告)号：US20170070439A1
公开(公告)日：2017-03-09
申请号：US15256804
申请日：2016-09-06
申请人： FTS Computertechnik GmbH
发明人： Silviu Craciunas , Ramon Serna Oliver
IPC分类号： H04L12/841 , H04L29/08 , H04L12/807
CPC分类号： H04L12/413
摘要： A method for transmitting messages in a computer network, e.g., a TTEthernet network, the network including nodes and at least one star coupler, which are connected in a multi-hop fashion, the nodes periodically exchanging time-triggered (TT) messages according to a pre-defined transmission schedule, and wherein nodes exchange, according to the schedule, messages via scheduled time-triggered flows, wherein adding a new time-triggered flow into the running computer network includes: 1. determining, for each hop in the new flow path of the new time-triggered flow, a free transmission gap in the transmission cycle of the corresponding port, 2. modifying, if a sufficiently long transmission gap is not free in a transmission cycle, said transmission cycle, wherein 3. modifying transmission cycles occurs iteratively, and 4. if a sufficient transmission gap is found in each transmission cycle along the flow path, the new transmission is incorporated into each of the cycles and executed periodically.
摘要翻译：一种用于在诸如TTEthernet网络的计算机网络（包括以多跳方式连接的节点和至少一个星形耦合器）的网络中传送消息的方法，所述节点周期性地交换时间触发（TT）消息，根据预定义的传输调度，并且其中节点根据调度通过调度的时间触发的流交换消息，其中将新的时间触发的流添加到运行的计算机网络中包括：1.为新的新时间触发流的流路，相应端口的传输周期中的空闲传输间隙; 2.如果在传输周期中足够长的传输间隙不是空闲的，则修改所述传输周期，其中3.修改传输循环迭代，以及4.如果在沿着流动路径的每个传输周期中发现足够的传输间隙，则将新传输并入每个循环中并执行周期呃。

10. 发明申请

US20160366686A1 METHOD AND COMPUTER NETWORK FOR TRANSMITTING MESSAGES 审中-公开
标题翻译：用于发送信息的方法和计算机网络
公开(公告)号：US20160366686A1
公开(公告)日：2016-12-15
申请号：US15120760
申请日：2015-02-20
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Wilfried STEINER
IPC分类号： H04W72/04 , H04L12/44
CPC分类号： H04W72/0446 , H04L12/417 , H04L12/44
摘要： The invention related to a method for transmitting messages in a computer network of a real-time system comprising components in the form of computing nodes and star couplets. A first group of components sends, relays or receives time-controlled messages according to a communication schedule, and a second group of components does not communicate according to a communication schedule. For example, the computing node 104 does not execute a communication schedule, i.e. the computing node 104 does not send time-controlled messages. Instead, the computing node 104 reacts to receiving a message 1-201a by sending a message 1-104a in response. According to the invention, the message 1-201a is sent in a time-controlled manner, for example by a star coupler 201. The computing node 104 receives the message 1-201a at time 17-104a and reacts to receiving the message 1-201a by sending the message 1-104a at time 17-104b to the star coupler 201. The star coupler 201 receives the message 1-104a at time 14-201b. Preferably an upper limit OBS of the maximum time interval between the receiving time 17-104a and the sending time 17-104b is determined in the computing node 104. In this way, the star coupler 201 can schedule the relaying time 14-201c, at which the message 1-104a is relayed in the network, as a time-controlled time. Alternatively, the computing node 104 reacts by reading a current value from a local sensor, by altering the state of an actuator.
摘要翻译：本发明涉及一种用于在包括计算节点和星形对联形式的组件的实时系统的计算机网络中传送消息的方法。第一组组件根据通信调度发送，中继或接收时间控制的消息，并且第二组组件根据通信调度不进行通信。例如，计算节点104不执行通信调度，即计算节点104不发送时间控制的消息。相反，计算节点104通过发送消息1-104a作为响应来响应于接收消息1-201a。根据本发明，消息1-201a以时间控制方式发送，例如由星形耦合器201发送。计算节点104在时间17-104a接收消息1-201a，并且响应于接收消息1- 201a通过在时间17-104b发送消息1-104a到星形耦合器201.星形耦合器201在时间14-201b接收消息1-104a。优选地，在计算节点104中确定接收时间17-104a和发送时间17-104b之间的最大时间间隔的上限OBS。以这种方式，星形耦合器201可以调度中继时间14-201c，处于消息1-104a在网络中被中继，作为时间控制的时间。或者，计算节点104通过通过改变致动器的状态从本地传感器读取当前值来进行反应。

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