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1. 发明授权

US10585781B2 Method for debugging software components in a distributed, time-controlled real time system 有权
公开(公告)号：US10585781B2
公开(公告)日：2020-03-10
申请号：US15738804
申请日：2016-06-16
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Hermann Kopetz , Stefan Poledna
IPC分类号： G06F11/36 , G06F8/70 , H04L29/08
摘要： The invention relates to a method for debugging software components of a distributed real-time software system, wherein the target hardware comprises computer nodes and the development system comprises one or more computers. According to the invention, an enhanced development system is formed, in which enhanced development system the computer nodes of the target hardware are connected to the computers of the development system via one or more time-controlled distributer units, wherein the enhanced development system has a sparse global time of known precision, wherein the computer nodes of the target hardware exchange messages with the computers of the development system via one or more distributer units, and wherein, in a frame, a software component on the target hardware and, temporally parallel thereto, a software component in the development system are supplied with the same input data and executed, wherein the activation signals are triggered at the start of the two executions of the software component in the same space tick of the global time, and wherein the software component executed in the development system is enhanced in such a way that, during its execution, selected intermediate results are written on an external data memory.

2. 发明授权

US10523760B2 Method and computer system for quickly transmitting time-controlled real-time messages 有权
公开(公告)号：US10523760B2
公开(公告)日：2019-12-31
申请号：US15768573
申请日：2016-10-17
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Hermann Kopetz , Stefan Poledna
IPC分类号： G06F15/16 , H04L29/08 , H04L12/44
摘要： The invention relates to a method, in particular a time controlled error-tolerant method, for periodically transporting real-time data in a computer system, in particular in a distributed computer system, said computer system comprising node computers (111-116), in particular a plurality of node computers (111-116), and distributor units (131, 132, 133, 151), in particular a plurality of distributor units (131, 132, 133, 151). The node computers and the distributor units have access to a global time, and real-time data is transported by means of messages, preferably by means of time-controlled real-time messages. The topology of the computer system corresponds to an intree, and node computers (111-116), are arranged on the leaves of the intree. One or more sensors (101-106) is assigned to each node computer (111-116), and the node computers (111-116) arranged on the leaves of the intree transmit sensor data in the payload of messages in the direction of a control center (100) located at the root of the intree at points in time, preferably at synchronized points in time. The payload of one or more incoming messages in a distributor unit is transported out of the distributor unit with an outgoing message, and an individual time plan is generated a priori for each distributor unit, wherein the time plan contains a periodically repeating starting time (391) for transmitting a message (390) going out of the respective distributor unit, said starting time being calculated a priori from—the a priori known time of arrival of a controlling payload to be transported, which is specified a priori for example, of one of the incoming messages, in particular a time-critical payload to be transported of one of the incoming messages, —minus the a priori known lead-time interval ([391, 393]) of the outgoing message (390), —plus at least one time interval ([393, 393)] required to copy a data element of the controlling payload, in particular the time-critical payload of the incoming message (320), into a data element of the payload of the outgoing message (390); and the payloads of the incoming messages are copied into the payload of the outgoing message by carrying out the a priori generated time plan.

3. 发明授权

US09454152B2 Method for allocating control in a system of systems 有权
标题翻译：在系统系统中分配控制的方法
公开(公告)号：US09454152B2
公开(公告)日：2016-09-27
申请号：US14776109
申请日：2014-03-13
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Hermann Kopetz
IPC分类号： G05D1/00 , B60W50/10 , B60W50/12 , B60W50/00
CPC分类号： G05D1/0061 , B60W50/10 , B60W50/12 , B60W2050/0006 , B60W2050/0016 , B60W2050/0072 , B60W2050/0095 , B60W2600/00 , G05D1/0088 , G05D2201/0213
摘要： The invention relates to a method for allocating control in a system-of-systems, in particular a dynamic system-of-systems consisting of a physical system PS, an autonomous control system CS, a human operator HO, a monitor component MK and an actuator controller AST, or comprising a physical system PS, an autonomous control system CS, a human operator HO, a monitor component MK and an actuator controller AST, wherein the CS uses a sensor system assigned thereto to cyclically monitor surroundings and/or the physical system itself and creates an internal model of the surroundings and/or the PS on the basis of this monitoring and performs an analysis of this model in order to determine control values for the AST and a criticality index KI of the scenario in a cycle, in particular in the current cycle, and wherein the MK cyclically monitors the HO and/or the actions thereof, in particular the current actions thereof, in order to determine an engagement index EI of the HO in a cycle, in particular in the current cycle, on the basis of this monitoring, and wherein the control over the PS is allocated to the HO when EI>KI.
摘要翻译：本发明涉及一种用于在系统系统中分配控制的方法，特别是由物理系统PS，自主控制系统CS，人类操作者HO，监视器组件MK和执行器控制器AST，或包括物理系统PS，自主控制系统CS，人类操作者HO，监视器组件MK和致动器控制器AST，其中CS使用分配给它的传感器系统来周期性地监视环境和/或物理系统本身，并在此监控的基础上创建了周边环境和/或PS的内部模型，并对该模型进行分析，以确定AST的控制值和一个周期中场景的临界指数KI，特别是在当前周期中，并且其中MK循环地监视HO和/或其动作，特别是其当前动作，以便确定在一个周期内HO的参与指数EI 在本次循环的基础上，在该监测的基础上，并且其中当EI> KI时，对PS的控制被分配给HO。

4. 发明授权

US10397081B2 Distributed real-time computer system and method for forcing fail-silent behavior of a distributed real-time computer system 有权
公开(公告)号：US10397081B2
公开(公告)日：2019-08-27
申请号：US15188029
申请日：2016-06-21
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna , Hermann Kopetz
IPC分类号： G06F15/173 , H04L12/26 , G05B9/03 , G06F11/07 , G06F11/16 , H04L1/20 , H04L1/22 , H04L12/24 , H04L29/08
摘要： The invention relates to a method for forcing fail-silent behavior of a periodically functioning, distributed real-time computer system, which real-time computer system comprises at least two redundant NSCFCUs. At the beginning of a frame, the at least two redundant NSCFCUs (110, 111) are supplied with the same input data, wherein each of the redundant NSCFCUs calculates a result, preferably by means of a deterministic algorithm, particularly from the input data, and wherein this result is packed into a CSDP with an end-to-end signature, and wherein the CSDPs of the NSCFCUs (110, 111) are transmitted to an SCFCU (130), and wherein the SCFCU (130) checks whether the bit patterns of the received CSDPs are identical, and, if disparity of the bit patterns is found, prevents further transmission of the CSDPs, particularly those CSDPs in which disparity was found. Furthermore, the invention relates to a periodically functioning, distributed real-time computer system.

5. 发明申请

US20150372942A1 Method for Constructing Optimal Time-Controlled Paths in a Large Computer Network 有权
标题翻译：在大型计算机网络中构建最优时间控制路径的方法
公开(公告)号：US20150372942A1
公开(公告)日：2015-12-24
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
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.
摘要翻译：本发明的实施例涉及具有计算机节点，通信信道和分发模块（DM）的大型计算机网络中的TT路径的动态创建，所述计算机节点，通信信道和分配模块都可以访问全球时基，其中调度实例旨在建立沿着现有虚拟连接（VC）从发送到接收节点的指定路径时间特征的时间控制路径，来自VC中的每个DM的请求由所述DM确认的所有TT路径描述符列表（TTPDL），然后发送指定的路径时间特征和所有确认的TTPDL到动态调度器，为VC中的每个DM创建新的TTPDL，受影响的DM的现有保留TTPDL保持不变，其中相应的新TTPDL被传送到VC中的每个DM，并且其中 VC中的每个DM保留所请求的TT路径，并确认对调度实例的预留。

6. 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.

7. 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.

8. 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.

9. 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).

10. 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.

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