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1. 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.

2. 发明申请

US20170270014A1 Fault-Tolerant High-Performance Computer System for Autonomous Vehicle Maneuvering 审中-公开
公开(公告)号：US20170270014A1
公开(公告)日：2017-09-21
申请号：US15459363
申请日：2017-03-15
申请人： FTS Computertechnik GmbH
发明人： Stefan POLEDNA , Georg NIEDRIST , Eric SCHMIDT , Martin Hoefler
IPC分类号： G06F11/20 , B60R16/023 , G05D1/00
CPC分类号： G06F11/203 , B60R16/0232 , B60W50/029 , B60W50/045 , B60W2050/0005 , B60W2050/0006 , G05D1/00 , G05D1/0077 , G05D1/0088 , G06F11/0796 , G06F11/2035 , G06F11/2041 , G06F2201/805
摘要： A fault-tolerant high-performance computer system is provided for executing control processes for autonomous maneuvering of a vehicle.

3. 发明申请

US20160380858A1 DISTRIBUTED REAL-TIME COMPUTER SYSTEM AND METHOD FOR FORCING FAIL-SILENT BEHAVIOR OF A DISTRIBUTED REAL-TIME COMPUTER SYSTEM 审中-公开
标题翻译：分布式实时计算机系统和分布式实时计算机系统的失败行为的方法
公开(公告)号：US20160380858A1
公开(公告)日：2016-12-29
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： H04L12/26 , H04L12/24 , H04L29/08
CPC分类号： H04L43/0847 , B60T2270/40 , G05B9/03 , G05B2219/24181 , G05B2219/24187 , G05B2219/24189 , G06F11/0709 , G06F11/1629 , H04L1/20 , H04L1/22 , H04L41/0659 , H04L67/10
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.
摘要翻译：本发明涉及一种用于强制周期性功能分布式实时计算机系统的故障静默行为的方法，该实时计算机系统包括至少两个冗余的NSCFCU。在帧的开始处，向至少两个冗余NSCFCU（110,111）提供相同的输入数据，其中每个冗余NSCFCU优选地通过确定性算法，特别是来自输入数据的计算结果，并且其中所述结果被打包到具有端到端签名的CSDP中，并且其中所述NSCFCU（110,111）的CSDP被发送到SCFCU（130），并且其中所述SCFCU（130）检查所述位所接收的CSDP的模式是相同的，并且如果发现位模式的差异，则防止CSDP的进一步传输，特别是那些发现不一致的CSDP。此外，本发明涉及一种周期性功能的分布式实时计算机系统。

4. 发明申请

US20180052453A1 FAULT-TOLERANT METHOD AND DEVICE FOR CONTROLLING AN AUTONOMOUS TECHNICAL SYSTEM THROUGH DIVERSIFIED TRAJECTORY PLANNING 审中-公开
公开(公告)号：US20180052453A1
公开(公告)日：2018-02-22
申请号：US15677878
申请日：2017-08-15
申请人： FTS Computertechnik GmbH
发明人： Stefan POLEDNA , Georg NIEDRIST , Eric SCHMIDT , Christopher HELPA , Hermann KOPETZ
IPC分类号： G05B23/02 , G06F11/20 , G06F11/36
CPC分类号： G05B23/0245 , G05B19/042 , G05B23/0294 , G06F9/4494 , G06F11/20 , G06F11/3692 , G06F2201/805
摘要： An innovative method is provided by which a complex electronic system for controlling a safety-critical technical process, for example driving an autonomous vehicle, can be implemented. A decision is made between simple and complex software, wherein the simple software is implemented on error-tolerant hardware and wherein a plurality of different versions of the complex software are simultaneously implemented in independent fault containment units (FCU) and wherein a result that is to be transmitted to the actuators is selected by a decider from the results of the complex software that is implemented using the simple software.

5. 发明申请

US20170228281A1 DISTRIBUTED REAL-TIME COMPUTER SYSTEM AND TIME-TRIGGERED DISTRIBUTION UNIT 审中-公开
公开(公告)号：US20170228281A1
公开(公告)日：2017-08-10
申请号：US15514578
申请日：2015-09-28
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Stefan POLEDNA , Hermann KOPETZ
IPC分类号： G06F11/07 , G06F11/20
CPC分类号： G06F11/0796 , G06F11/1645 , G06F11/165 , G06F11/185 , G06F2201/805
摘要： The invention relates to a time-controlled distribution unit (30, 31) for the distribution of messages in a distributed computer system for safety-critical applications. Said distribution unit is designed as a self-testing functional unit and comprises input channels (201 . . . 222) for receiving time-controlled periodic input messages from node computers (20, 21, 22) upstream in the data flow, and output channels (301 . . . 333) for transmitting time-controlled periodic output messages to the node computers (50, 51, 52) downstream in the data flow, a computer (40) being provided in the distribution unit and being designed to analyze, by means of a “simple” software, useful information contained in the input messages, and to decide whether output messages are output and, if so, which useful information is contained in the output messages.

6. 发明申请

US20160104265A1 METHOD FOR INTEGRATION OF CALCULATIONS HAVING A VARIABLE RUNNING TIME INTO A TIME-CONTROLLED ARCHITECTURE 审中-公开
标题翻译：将具有可变运行时间的计算集成到时间控制的架构中的方法
公开(公告)号：US20160104265A1
公开(公告)日：2016-04-14
申请号：US14892610
申请日：2014-05-20
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Stefan POLEDNA , Martin GLüCK
IPC分类号： G06T3/00 , G08G1/16
CPC分类号： G06T3/0056 , G01S7/295 , G01S13/86 , G01S13/865 , G01S13/867 , G01S13/931 , G06F9/4887 , G06K9/6289 , G08G1/165 , G08G1/166
摘要： The invention relates to a method for the integration of calculations having a variable running time into a distributed, time-controlled, real-time computer architecture, which real-time computer architecture consists of a plurality of computer nodes, wherein a global time having known precision is available to the computer nodes, wherein at least a portion of the computer nodes is equipped with sensor systems, in particular different sensor systems for observing the environment, and wherein the computer nodes exchange messages via a communication system, wherein at the start of each cyclical frame Fi having the duration d, the computer nodes acquire raw input data by means of a sensor system, wherein the start times of frame Fi are deduced from the progress of the global time, and wherein the pre-processing of the raw input data is carried out by means of algorithms, the running times of which depend upon the input data, and wherein the value of the ageing index AI=0 is assigned to a pre-processing result which is produced within the frame Fi at the start of which the input data were acquired, and wherein the value of the ageing index AI=1 is assigned to a pre-processing result which is produced within the frame following the frame in which the input data were acquired, and wherein the value AI=n is assigned to a pre-processing result which is produced in the n-th frame after the data acquisition, and wherein the ageing indices of the pre-processing results are taken into consideration in the computer nodes which carry out the fusion of the pre-processing results of the sensor systems.
摘要翻译：本发明涉及一种用于将具有可变运行时间的计算集成到分布式，时间控制的实时计算机体系结构中的方法，该实时计算机体系结构由多个计算机节点组成，其中具有已知的全局时间精确度可用于计算机节点，其中计算机节点的至少一部分配备有传感器系统，特别是用于观察环境的不同传感器系统，并且其中计算机节点经由通信系统交换消息，其中在开始时每个循环帧Fi具有持续时间d，计算机节点通过传感器系统获取原始输入数据，其中从全局时间的进展推断帧Fi的开始时间，并且其中原始输入的预处理通过算法执行数据，其运行时间取决于输入数据，并且其中老化指数AI = 0的值被分配给在获取输入数据的开始处在帧Fi内产生的预处理结果，并且其中老化指数AI = 1的值被分配给在帧之后的帧内产生的预处理结果其中获取所述输入数据，并且其中所述值AI = n被分配给在所述数据获取之后的第n帧中产生的预处理结果，并且其中采用所述预处理结果的老化指数在进行传感器系统的预处理结果的融合的计算机节点中考虑。

7. 发明申请

US20180295185A1 METHOD AND COMPUTER SYSTEM FOR QUICKLY TRANSMITTING TIME-CONTROLLED REAL-TIME MESSAGES 审中-公开
公开(公告)号：US20180295185A1
公开(公告)日：2018-10-11
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： H04L29/08 , H04L12/44
CPC分类号： H04L67/12 , 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 a 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.

8. 发明申请

US20180196728A1 METHOD FOR DEBUGGING SOFTWARE COMPONENTS IN A DISTRIBUTED, TIME-CONTROLLED REAL TIME SYSTEM 审中-公开
公开(公告)号：US20180196728A1
公开(公告)日：2018-07-12
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
CPC分类号： G06F11/362 , G06F8/70 , H04L67/10
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 dstributer 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, is 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.

9. 发明申请

US20180165089A1 DEVICE AND METHOD FOR INTEGRATING SOFTWARE COMPONENTS INTO A DISTRIBUTED TIME-CONTROLLED REAL-TIME SYSTEM 审中-公开
公开(公告)号：US20180165089A1
公开(公告)日：2018-06-14
申请号：US15738874
申请日：2016-06-16
申请人： FTS COMPUTERTECHNIK GMBH
发明人： Hermann KOPETZ , Stefan POLEDNA
IPC分类号： G06F8/71 , G06F8/65 , H04L29/08
CPC分类号： G06F8/71 , G06F8/65 , G06F9/4887 , G06F9/54 , H04L67/10 , H04L67/34
摘要： The invention relates to a device for integrating software components of a distributed real-time software system, said components being run on target hardware and on a development system, wherein the target hardware comprises computing nodes, and the development system comprises one or more computers. The device is designed as an expanded development system in which the computing nodes of the target hardware are connected to the computers of the development system via one or more time-controlled distributor units, wherein the expanded development system has a sparse global time of known precision, and wherein the computing nodes of the target hardware are connected to the computers of the development system via the one or more time-controlled distributor units such that the data content of a TT message template of a TT platform of the target hardware can be provided both by a simulation process of the development system as well as by an operative process of the target hardware in a timely manner.

10. 发明申请

US20180052465A1 FAULT-TOLERANT METHOD AND DEVICE FOR CONTROLLING AN AUTONOMOUS TECHNICAL SYSTEM BASED ON A CONSOLIDATED MODEL OF THE ENVIRONMENT 审中-公开
公开(公告)号：US20180052465A1
公开(公告)日：2018-02-22
申请号：US15678181
申请日：2017-08-16
申请人： FTS Computertechnik GmbH
发明人： Stefan POLEDNA , Georg NIEDRIST , Eric SCHMIDT , Christopher HELPA , Hermann KOPETZ
IPC分类号： G05D1/02 , G05D1/00
摘要： An innovative method is provided by which a complex electronic system for controlling a safety-critical technical process, for example driving an autonomous vehicle, can be implemented. A distinction is made between simple and complex software, wherein the simple software is executed on error-tolerant hardware and wherein a plurality of diverse versions of the complex software are implemented simultaneously on independent fault containment units (FCU). A consolidated environmental model is developed from a number of different environmental models and represents the basis for trajectory planning.

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