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1. 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.

2. 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.

3. 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.

4. 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.

5. 发明授权

US10243880B2 Time-triggered cut through method for data transmission in distributed real-time systems 有权
公开(公告)号：US10243880B2
公开(公告)日：2019-03-26
申请号：US15293874
申请日：2016-10-14
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna
IPC分类号： G06F15/173 , H04L12/911 , H04L12/417 , H04L12/927
摘要： The invention relates to a method for the periodic transport of real-time data in a distributed computer system, which computer system comprises node machines (100, 101, 102, 103), in particular a plurality of node machines (100, 101, 102, 103), and distributor units (121, 122), in particular a plurality of distributor units (121, 122), wherein the node machines (100, 101, 102, 103) and the distributor units (121, 122) have access to a global time, and wherein real-time data is transported by means of time-triggered real-time messages. It is provided that for at least one distributor unit (121, 122), preferably for all the distributor units (121, 122), through which a time-triggered real-time message is to be transported, attributes of this time-triggered real-time message are assigned a priori to a periodic time slot of the at least one distributor unit (121, 122), preferably to a respective time slot (121, 122) of each distributor unit (121, 122), in which periodic time slot or in which periodic time slots, this time-triggered real-time message is to be transported through the distributor unit (121, 122) or the distributor units (121, 122), and wherein, on the basis of attributes that are assigned a priori to this time slot and that are preferably stored in the distributor unit (121, 122), a message arriving in a periodic time slot in a distributor unit (121, 122) is forwarded, immediately after the beginning of the arrival of the message in the distributor unit (121, 12), to one or more output ports of the distributor unit (121, 122), which is/are specified in the attributes assigned to the time slot.

6. 发明申请

US20170111293A1 Time-Triggered Cut Through Method for Data Transmission in Distributed Real-Time Systems 审中-公开
公开(公告)号：US20170111293A1
公开(公告)日：2017-04-20
申请号：US15293874
申请日：2016-10-14
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna
IPC分类号： H04L12/911 , H04L12/927
CPC分类号： H04L47/826 , H04L12/417 , H04L47/781 , H04L47/801
摘要： The invention relates to a method for the periodic transport of real-time data in a distributed computer system, which computer system comprises node machines (100, 101, 102, 103), in particular a plurality of node machines (100, 101, 102, 103), and distributor units (121, 122), in particular a plurality of distributor units (121, 122), wherein the node machines (100, 101, 102, 103) and the distributor units (121, 122) have access to a global time, and wherein real-time data is transported by means of time-triggered real-time messages. It is provided that for at least one distributor unit (121, 122), preferably for all the distributor units (121, 122), through which a time-triggered real-time message is to be transported, attributes of this time-triggered real-time message are assigned a priori to a periodic time slot of the at least one distributor unit (121, 122), preferably to a respective time slot (121, 122) of each distributor unit (121, 122), in which periodic time slot or in which periodic time slots, this time-triggered real-time message is to be transported through the distributor unit (121, 122) or the distributor units (121, 122), and wherein, on the basis of attributes that are assigned a priori to this time slot and that are preferably stored in the distributor unit (121, 122), a message arriving in a periodic time slot in a distributor unit (121, 122) is forwarded, immediately after the beginning of the arrival of the message in the distributor unit (121, 12), to one or more output ports of the distributor unit (121, 122), which is/are specified in the attributes assigned to the time slot.

7. 发明申请

US20150078399A1 Method and Apparatus for Consistent Modification of the Schedules in a Time-Controlled Switch 审中-公开
标题翻译：在时间控制开关中对时间表进行一致修改的方法和装置
公开(公告)号：US20150078399A1
公开(公告)日：2015-03-19
申请号：US14395256
申请日：2013-04-19
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna , Harald Angelow , Wilfried Steiner , Martin Schwarz
IPC分类号： H04J3/06 , H04L12/937
CPC分类号： H04J3/0655 , G06F11/0709 , G06F11/0793 , G06F11/3006 , G06F11/3089 , H04J3/0641 , H04L49/254 , H04L49/557
摘要： The invention relates to a method for dynamic modification of the schedules in a time-controlled switch for relaying time-controlled messages in a real-time computer system, wherein at least one active schedule and at least one new schedule are stored at a point in time in a switch, wherein, at a specified changeover time in the active interval of a sparse time base, the active schedule is deactivated and a new schedule is activated.
摘要翻译：本发明涉及用于动态修改时间控制开关中的时间表的方法，用于在实时计算机系统中中继时间控制的消息，其中至少一个活动时间表和至少一个新时间表存储在在交换机中的时间，其中，在稀疏时基的活动间隔中的指定转换时间，激活的调度被停用并且新的调度被激活。

8. 发明申请

US20150063362A1 Method and Switching Unit for the Reliable Switching of Synchronization of Messages 有权
公开(公告)号：US20150063362A1
公开(公告)日：2015-03-05
申请号：US14391162
申请日：2013-04-09
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna
IPC分类号： H04L29/08 , H04L12/721
CPC分类号： H04L67/1095 , G06F11/1641 , G06F11/1687 , G06F11/1695 , H04J3/0667 , H04J3/0673 , H04L45/44 , H04L49/35 , H04L49/552
摘要： The invention relates to a method for the reliable switching of synchronisation messages in a distributed computer system consisting of a number of node computers, wherein the management of a transparent clock conforming to IEEE Standard 1588 is supported, wherein a switching unit consists of four separate FCUs, specifically an input system EIN, two independent switching systems VER1 and VER2, and an output system AUS, and wherein a message arriving at EIN from a transmitting node computer is forwarded immediately in unmodified form from EIN directly to the two independent switching systems VER1 and VER2, and wherein VER1 provides the event of the arrival of the message with a timestamp, analyses the message and switches said message to (an) output port(s) associated with an address field of the message, and wherein VER1 opens the message and modifies a TIC field within the message in order to determine the delay period of the message in VER1, and wherein VER1 closes the message again by re-calculating a CRC field of the modified message and forwarding the closed message to AUS, and wherein VER2 provides the event of the arrival of the message with a timestamp, analyses the message and switches said message to the output port(s) associated with the address field of the message, and wherein VER2 opens the message and modifies the TIC field within the message in order to determine the delay period of the message in VER2, and wherein VER2 closes the message again by re-calculating the CRC field of the modified message and forwarding the closed message to AUS, and wherein AUS checks whether the content of the message delivered from VER1 matches the content of the message delivered from VER2, and wherein AUS checks whether the interval between the moment of receipt of the message delivered from VER1 and the moment of receipt of the message delivered from VER2 is smaller than a first interval determined a priori, referred to hereinafter as the interval_1, and whether the absolute value of the difference of the delay values stored in the two TIC fields is smaller than a second interval known a priori, referred to hereinafter as the interval_2, and wherein, in the case that one of these checks is negative, AUS interrupts the transmission of the message that is outbound via the addressed output ports or changes the outbound message in such a way that each message receiver identifies the incoming message as faulty.

9. 发明申请

US20150043360A1 Method for Monitoring, at the Correct Time, TT Ethernet Messages 有权
标题翻译：在正确的时间监视TT以太网消息的方法
公开(公告)号：US20150043360A1
公开(公告)日：2015-02-12
申请号：US14362388
申请日：2012-12-18
申请人： FTS Computertechnik GmbH
发明人： Stefan Poledna
IPC分类号： H04L12/26
CPC分类号： H04L43/106 , H04L12/43 , H04L43/026 , H04L43/0858
摘要： The invention relates to a method for monitoring, at the correct time, TTEthernet (TT) messages communicated by a TTEthernet switch (TTE switch) in a distributed real-time computer system. According to the invention, the TTE switch has a global time having precision P and accuracy A, and the TTE switch has a plurality of communication channels and one or more monitoring channels, and the TTE switch contains a selection data structure that specifies which TT message classes are to be monitored, and a copy of a TT message which belongs to a TT message class selected for monitoring is formed in the TTE switch and is transmitted by the TTE switch via a monitoring channel to a monitoring node, and the TTE switch subsequently autonomously transmits an ET message containing an identifier and the exact transmission time of the monitored TT message via a monitoring channel to a monitoring node.
摘要翻译：本发明涉及一种用于在正确的时间监视由分布式实时计算机系统中的TTEthernet交换机（TTE交换机）传送的TTEthernet（TT）消息的方法。根据本发明，TTE交换机具有精度为P和精度A的全局时间，TTE交换机具有多个通信信道和一个或多个监控信道，TTE交换机包含选择数据结构，该结构指定哪个TT消息要监视类，并且在TTE交换机中形成属于被选择用于监视的TT消息类别的TT消息的副本，并且由TTE交换机通过监视信道发送到监视节点，并且随后的TTE交换机通过监控通道自主地将包含标识符的ET消息和所监视的TT消息的准确传输时间发送到监控节点。

10. 发明授权

US10571920B2 Fault-tolerant method and device for controlling an autonomous technical system based on a consolidated model of the environment 有权
公开(公告)号：US10571920B2
公开(公告)日：2020-02-25
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 , G06F11/14 , G06F11/18 , H04L29/08
摘要： A 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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