EP3556058A1 - Station d'abonné pour un système de bus et procédé de transmission de données dans un système de bus - Google Patents

Station d'abonné pour un système de bus et procédé de transmission de données dans un système de bus

Info

Publication number
EP3556058A1
EP3556058A1 EP17811285.0A EP17811285A EP3556058A1 EP 3556058 A1 EP3556058 A1 EP 3556058A1 EP 17811285 A EP17811285 A EP 17811285A EP 3556058 A1 EP3556058 A1 EP 3556058A1
Authority
EP
European Patent Office
Prior art keywords
subscriber station
data transmission
bus
bus system
predetermined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17811285.0A
Other languages
German (de)
English (en)
Inventor
Simon Weissenmayer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3556058A1 publication Critical patent/EP3556058A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/4013—Management of data rate on the bus
    • H04L12/40136—Nodes adapting their rate to the physical link properties

Definitions

  • Subscriber station for a bus system and method for data transmission in a bus system
  • the present invention relates to a subscriber station for a bus system and a method for data transmission in a bus system, in which a protocol for CAN or CAN FD is performed with lower voltage than usual.
  • CAN networks are provided in which
  • Messages can be transmitted using the CAN and / or CAN FD protocol, as described in the current ISO-CD-11898-1 CAN protocol specification with CAN FD.
  • CAN the data rate can not be further increased in many cases, because otherwise the voltage edges would have to be chosen so steeply that more electromagnetic emissions would be generated than permitted.
  • ECUs in the vehicle has interconnected.
  • CAN buses due to the large number of participants.
  • the short cable lengths ensure a better signal-to-noise ratio.
  • LVDS Low Voltage Digital System
  • Data transmission can be provided in a bus system, in which the data transfer rate on the bus compared to previous solutions can be increased even further, so as to accelerate error-free communication over the bus.
  • the object is achieved by a subscriber station for a bus system with the features of claim 1.
  • the subscriber station includes a
  • Transceiver for sending a message to and / or
  • the transceiver is configured to lower a differential voltage from a first predetermined voltage value for a data transmission in a first time period to a second predetermined voltage value for a data transmission in a second time period or again from the second predetermined Raise voltage value to the first predetermined voltage value and decrease the decision threshold for receiving bits of the message in the second time period from a first predetermined threshold for a data transmission in the first period to a second predetermined threshold for a data transmission in the second period or again from the second predetermined threshold to raise the first predetermined threshold, and wherein the transceiver is configured to lower a differential voltage from a first predetermined voltage value for a data transmission in a first time period to a second predetermined voltage value for a data transmission in a second time period or again from the second predetermined threshold to raise the first predetermined threshold, and wherein the transceiver is configured to lower a differential voltage from a first predetermined voltage value for a data transmission in a first time period to a second predetermined voltage value for a data transmission in a
  • Subscriber station is configured to send the messages in the second period of time with a higher data transmission rate than in the first
  • the data transmission rate can be increased many times compared to conventional CAN or CAN FD.
  • Voltage (high voltage) of 5V or 3.3V does not bother a standard CAN or standard CAN FD communication on the bus.
  • the LVCAN subscriber station generates smaller differential voltages during data transmission than
  • differential voltages are so small that they can not be perceived by standard CAN subscriber stations because the
  • Differential voltages below the decision threshold of 1 V e.g. at 0.5 V or even negative.
  • the subscriber station is designed so that standard CAN subscribers are tolerant of the LV differential voltage changes made by the described subscriber station and none
  • the transceiver has a port and is configured depending on a signal on the port
  • the transceiver can be configured to evaluate a content of the message and, depending on the content of the message, to lower the differential voltage and the decision threshold or to increase the differential voltage and the decision threshold.
  • the transceiver has a first terminal and is configured, depending on a signal at the first terminal, the differential voltage with a first predetermined one
  • the subscriber station also has a
  • a communication controller configured to send the messages in the second time period with stuff bits at the locations where the stuff bits are expected upon synchronization of the subscriber stations of the bus system, and / or the communication controller or the transceiver is configured, the stuff bits with the Differential voltage level and the data transfer rate to create, as in the first period.
  • Communication control device or the transmitting / receiving device to be configured to create a recessive stuffing bit directly in sequence in addition to a dominant Stuff bit.
  • the first time period is preferably a time period in which it is determined which subscriber station at least temporarily receives exclusive, collision-free access to the bus or a common channel of the bus.
  • the second period of time is preferably a period of time in which the subscriber station has exclusive, collision-free access to the bus or a common channel of the bus.
  • the levels of the differential voltage have on average values that lie in a range of -1 V and 3 V. Additionally or alternatively, the differential voltage may have a value that is in a range of 0.2V ⁇ UD ⁇ 1V.
  • the transceiver can be configured to modulate an LV transmission in parallel to a transmission with the first predetermined current value.
  • the subscriber station may include an error counter configured to count how many times a transmission attempt is aborted, and wherein the transceiver is configured to switch to a transmission mode in which the differential voltage is switched to the first predetermined voltage mode, to send the messages only at the original level and original data rate when a count of the error counter exceeds a predetermined value.
  • the bus system is a CAN bus system or a CAN FD bus system. Additionally or alternatively, it is possible that at least one reflection reduction unit is arranged at the transmitting / receiving device, which is connected between two bus wires of the bus in order to reduce reflections in the bus system.
  • the subscriber station described above may be part of a bus system, which also includes a bus, via which at least two subscriber stations are connected to each other so that they can communicate with each other.
  • the bus system can also have a switch which is connected between at least two of the subscriber stations in order to divide the bus into approximately equal parts.
  • Receiving means for transmitting a message to and / or receiving a message from another / n subscriber station of the bus system used over a bus, wherein the transceiver means a
  • Threshold raises and wherein the subscriber station is configured, the messages in the second period with a higher
  • Subscriber station are called.
  • FIG. 1 is a simplified block diagram of a bus system according to a first embodiment
  • FIG. 2 is a diagram illustrating a structure of a message transmitted from a subscriber station of the bus system according to the first embodiment
  • Embodiment is sent;
  • FIG. 3 shows a simplified structure of a transmitting / receiving device of a first and third subscriber station according to the first embodiment
  • FIG. 4 shows a schematic profile of a differential voltage of CAN_H-CAN_L over time during a useful data transmission in a second subscriber station according to the first exemplary embodiment
  • FIG. 5 shows a schematic course of a differential voltage of CAN_H-CAN_L over time during a useful data transmission at the first or third subscriber station according to the first exemplary embodiment
  • FIG. 6 shows a schematic profile of a differential voltage of CAN_H-CAN_L over time during a useful data transmission at the first or third subscriber station according to a second exemplary embodiment
  • FIG. 7 shows a schematic curve of a differential voltage of CAN_H-CAN_L over time during a user data transmission at the first or third subscriber station according to a third exemplary embodiment
  • FIG. 8 shows a schematic profile of a differential voltage of CAN_H-CAN_L over time during a useful data transmission in the first and third subscriber stations according to a fourth exemplary embodiment
  • 9 shows a simplified structure of a transmitting / receiving device of a first and third subscriber station according to a fifth embodiment
  • FIG. 10 is a simplified block diagram of a bus system according to a sixth embodiment.
  • bus system 1 shows a bus system 1, which may be, for example, a CAN bus system, a CAN FD bus system, etc.
  • the bus system 1 can be used in a vehicle, in particular a motor vehicle, an aircraft, etc., or in the hospital, etc.
  • the bus system 1 is not limited to a CAN bus system.
  • the bus system 1 has a plurality of subscriber stations 10, 20, 30 which are each connected to a bus 40 having a first bus core 41 and a second bus wire 42.
  • the bus wires 41, 42 can also be called CAN_H and CAN_L and serve to couple in the dominant state in the transmission state.
  • Via the bus 40 messages 45, 46, 47 can be transmitted in the form of signals between the individual subscriber stations 10, 20, 30.
  • Level configured as 5V or 3.3V which is the usual voltage level in digital systems.
  • Messages or lower level signals than 5V or 3.3V are also referred to below as LV messages whose bits are also referred to as LV bits.
  • the voltage of the signal to ground has a value of about 1.2 V or has the differential voltage a value that is in a range of 0.2V ⁇ UD ⁇ 1V.
  • Differential voltage signal level usually has a value which is in a range of 0.2 V ⁇ U D ⁇ 1V.
  • the subscriber stations 10, 20, 30 may, for example, control devices or
  • Display devices or sensors of a motor vehicle Display devices or sensors of a motor vehicle.
  • the subscriber stations 10, 30 each have one
  • the subscriber station 20 has a communication control device 11 and a transmitting / receiving device 13.
  • Subscriber stations 10, 30 and the transmitting / receiving device 13 of the subscriber station 20 are each connected directly to the bus 40, although this is not shown in Fig. 1.
  • the communication control device 11 is for controlling a
  • the communication control device 11 may be designed like a conventional CAN controller or CAN FD controller.
  • the transmitting / receiving device 12 is used to transmit the messages 45, 47 and will be described in more detail below.
  • the transmitting / receiving device 13 may be designed like a conventional CAN transceiver or CAN FD transceiver.
  • Reflection reduction unit 16 may be configured, for example, as a Zener diode which at as many points as possible the differential voltage UD on the bus 40th to at least 0 V and a maximum of 2V limit.
  • the voltage is limited to a maximum of 0.5 V or even 0.2 V during the transmission of LV bits, if appropriate in addition.
  • the 0.5 V limit is canceled, so that the limitation acts on 2 V.
  • a hard limit of 0.5 or 0.2 V would mean that no standard 2 V bit can be transmitted. Therefore, the procedure is that only if one can be expected with an LV transmission, then as many as possible
  • Subscriber stations 10, 20, 30 limit the voltage to a maximum of 0.5 or 0.2 V, but only so long as the short-circuit current caused by the limitation, namely the current through the Zener diode, does not exceed a certain value. If the short circuit current is e.g. greater than 0.3mA, the limit is switched from 0.5 or 0.2V to 2V, allowing a standard 2V bit to be sent.
  • CAN communication on the bus 40 are basically divided into two different time periods, namely the Arbitr istsphasen 451, 453 shown only schematically and a data area 452, which is also called data phase in CAN-FD.
  • the bitrate for the following data phase is reduced to z. B. 2, 4, 8Mbps increased.
  • the bit rate in the arbitration phases 451, 453 is less than the bit rate in the data area 452.
  • the data area 452 is significantly shorter than the data area 452 of the CAN frame.
  • the arbitration phase 451, 453 it is determined which of the currently transmitting subscriber station (s) 10, 20, 30 of the bus system 1 at least temporarily receives an exclusive, collision-free access to the bus 40 of the bus system 1.
  • the payload of the message 46 is transmitted by the subscriber station, which has won the arbitration.
  • Fig. 3 shows the terminals of a transmitting / receiving device 12 and the error counter 15 with a value of 7 for the counter 151 more accurate. Consequently the transmitting / receiving device 12 has, in addition to a first connection for the transmission signal Tx and a second connection for the reception signal Rx connections for the bus signals CAN_H and CAN_L, a connection LV which is in particular an input connection. In addition, the transmitting / receiving device 12 has a current source 121.
  • the transceiver 12 switches to LV operation.
  • the transceiver 12 lowers the current source 121 from the standard 33 mA to 8.3 mA to send an LV message 45, 47 with LV bits.
  • the transmitting / receiving device 12 lowers the transmitting / receiving device 12
  • Fig. 4 shows the signal levels for a differential voltage UD during the
  • Fig. 4 is a phase of the user data transmission of a standard CAN message
  • the stuff bits 60 are inserted into the standard CAN message 46 by the communication controller 11 at predetermined intervals to produce a
  • Fig. 5 shows the signal levels for a differential voltage UD during the payload transmission of an LV-CAN message 45, 47.
  • LV bits 65 transmitted with a bit duration T3.
  • the bit duration T3 is only half as long as the bit duration T1 of a stuff bit 60.
  • an LV bit may take 1/8 or 1/32 of the time required for a standard arbitration bit to transmit .
  • the LV recessive bit 1 has a differential voltage below 0.25V while the subdominant LV bit 0 has a differential voltage greater than 0.25V.
  • a subdominant LV bit 0 can always be overdriven by a dominant standard bit 0.
  • An LV message 45, 47 can have the same content as a standard CAN or CN FD message, with LV messages with more than 64 bytes being permitted, the LV bit times in the data part being shorter than the one
  • Arbitr istsbit lender may be in the header and the transmission of LV bits can be announced by one or more standard bits in the header.
  • stuff bits 60 can be inserted into the messages 45, 47 at the standard level and standard length intervals usually expected.
  • the communication controller 11 or the transceiver 12 may be configured to create a recessive stuff bit directly in sequence in addition to a dominant stuff bit.
  • a stuff bit 60 whose duration or bit duration T 1 is equal to the standard length of the stuff bit 60 is initially expected or transmitted at the transceiver 12. Thereafter, after lapse of a predetermined time T2 equal to half the time Tl, a decision threshold 121 for receiving bits is set to 0.25V.
  • signal levels are detected as bits when the signal level for the differential voltage UD during payload transmission standard CAN message or standard CAN FD message 46 rises above 0.25V.
  • Decision threshold 125 occurs after expiration of the time period T2 after the beginning of recognition of the second dominant stuff bit 60 in FIG. 5.
  • the payload transmission of an LV message 45, 47 may be fully compatible with a transmission according to the CAN protocol or the CAN FD protocol.
  • the subscriber stations 10, 30 thus additionally send standard-level stuff bits 60 during the
  • the subscriber stations 10, 30 as LV receivers change the decision threshold between 0.25 V and 1 V according to whether an original level bit or an LV bit 65 is expected.
  • CAN-L has a certain threshold of e.g. Exceeds 1V.
  • the LVCAN subscriber station 10 During communication in the bus system 1, for example, the LVCAN subscriber station 10 first tries to transmit its (LV message) 45 with LV level. If this is not possible, because it is from another LV message 47,
  • the subscriber station 10 tries to send the message 45 according to the standard protocol.
  • the transmission attempt of the LV message 45 starts at the same time as a standard message 46, ie after the end of the three interframe space bits. If an LV message 45 at the same time how a standard message 46 is to be sent, then recognizes that the solver, in this example, the subscriber station 10, at the latest after the attempt to send the first recessive stuffing bit 60 after 6 LV bits, because the differential voltage is not less than 0.1 V. falls or because the voltage rises above 1V.
  • the subscriber station 10 as LV transmitter recognizes that the solver, in this example, the subscriber station 10, at the latest after the attempt to send the first recessive stuffing bit 60 after 6 LV bits, because the differential voltage is not less than 0.1 V. falls or because the voltage rises above 1V.
  • the subscriber station 10 as LV transmitter recognizes that the
  • Subscriber station 20 wants to send a standard message 46. Since the subscriber station 20 as a (standard) transmitter is still busy sending the first (Start Of Frame) standard bit after 6 LV bits, the subscriber station 10 as the LV transmitter can, without delay, try to change its LV Send message 45 as standard message 46 or message with standard header but with LV content.
  • the LV data transmission may be briefly disturbed, so that the transmission is interrupted by an error frame. Every time an LV transmission is aborted by an error frame, the transmission is repeated again at the original level and original data rate according to the CAN protocol or the CAN FD protocol.
  • the transceiver 12 has an error counter 15 as previously described with reference to FIG.
  • the error counter 15 counts the number of error frames. If so many messages are erroneously transmitted in sequence that the count 151 of the error counter 15 exceeds a threshold, then the messages are sent only at the original level and original data rate instead of LV level and LV data rate. A certain number of messages sent / received error-free reduces the count 151 of the error counter 15. If the count 151 of the error counter 15 has dropped far enough, the transmission of LV messages is resumed. Due to the intermediate transmission with standard levels, the bus load can increase so much that low-priority messages can no longer be sent.
  • Fig. 6 shows the signal levels for a differential voltage UD during the
  • the transceiver 12 is constructed in the same manner as in the previous embodiment. However, in the present embodiment, no synchronization is the
  • the transceiver 12 may continuously assert the decision threshold 121 during the payload transmission of an LV-CAN message 45, 47, as shown in FIG.
  • the signal level of Fig. 6 corresponds to a pure LV-CAN in which the transmission of the stuffed-bit 60 with original level is dispensed with and the decision threshold remains permanently at 0.25V.
  • Fig. 7 shows the signal levels for a differential voltage UD during the
  • Embodiment a similar data transmission as described with reference to FIG. 5.
  • an LV level difference of + -0.5V instead of +0.5V is used as illustrated in FIG. This results in a larger voltage swing than in the case of FIG. 5, namely 1 V instead of 0.5 V, as in the example of FIG. 5.
  • the influence of interference radiation is reduced by the larger voltage swing of 1 V instead of 0.5 V.
  • the data transmission rate should be reduced to 1.6 or 2.4 times.
  • Fig. 8 shows the signal levels for a differential voltage UD during the
  • Embodiment Here, a similar data transmission as described with reference to FIG. 6. However, in the present embodiment, an LV level difference of + -0.5V instead of +0.5V is used, as previously described with reference to FIG. This results in a larger voltage swing of 1 V instead of 0.5 V, as in the example of FIG. 6.
  • the transceiver 120 has two connections, namely an input LVR and an output LVT.
  • the LVT output indicates when a standard bit on the bus 40 has been detected instead of an expected LV bit. Only if the LV operation is activated by the input LVR, then the limitation of the
  • the transmitting / receiving device 120 is constructed in the same way as the transmitting / receiving device 12 according to the preceding
  • the transceiver 120 may include a LVRx terminal for the LV receive signal and a LVTx terminal for comprise the LV transmit signal, which may also be referred to as the third and fourth terminals of the transceiver 120.
  • the LV transmission signal or LV reception signal can also already be created by the communication control device 11 or passed on to it.
  • connection LVTx for the LV transmit signal can not only in the transmission pauses in later development steps but also during a standard CAN transmission.
  • Transmission be modulated in parallel. The modulation may be similar to modulating data onto a power line.
  • FIG. 10 shows a bus system 2 according to a fifth embodiment.
  • the bus system 2 is largely implemented in the same way as described in the bus system 1 according to the first embodiment. in the
  • the bus system 2 additionally has a CAN switch 50.
  • the CAN switch 50 is preferably installed in the middle of the bus 40, whereby two separate buses 40 are generated.
  • the CAN switch 50 has the advantage that only the messages 45, 46, 47 which are of interest for the respective other part of the bus system 2 are forwarded. As a result, the bus load decreases in addition, which, because of fewer interrupted data transmission attempts, the speed of the
  • the CAN switch 50 has the advantage that it can be taken into account that the LV signals are very weak and therefore prone to
  • LV messages are in Bus systems 2 with distant subscriber stations 10, 20, 30 in unfavorable environment or operating conditions often destroyed.
  • the bus length can be reduced by using the CAN switch 50.
  • the bus systems 1, 2 of the embodiments described above can make a contribution to the fact that ever higher data rates are needed, which is driven by flashing ever-increasing program levels in the shortest possible time. Flashing can be done with standard CAN, e.g. for cameras take 2.5 hours and more. Ideally, many electrical consumers are switched off during flashing and thus turned off electromagnetic Einstrahl provoken. In part, the
  • Control units or subscriber stations of the bus system 1, 2 also outside the vehicle at special stations flashed. Shorter and shielded cables can be used here, which reduces the radiation to a minimum.
  • Subscriber stations 10, 20, 30 and the method may be used individually or in all possible combinations.
  • all the features of the previously described embodiments and / or their modifications can be arbitrarily combined or omitted.
  • the following modifications are conceivable, in particular.
  • bus system 1, 2 described above according to the exemplary embodiments is described with reference to a bus system based on the CAN protocol or CAN FD protocol.
  • bus system 1, 2 according to the various embodiments may also be another type of
  • the LV transmitter can detect overshoot of the subdominant LV bit by a dominant standard bit by exceeding a differential voltage threshold between 0.1 V or 0.25 V and 1 V earlier.
  • arbitration can also be carried out in such a way that it is only switched to large differential voltages if the arbitration according to the new method was unsuccessful and was reset to standard arbitration.
  • the limit of 0.2 V or 0.5 V can be increased to 2 V when through
  • Preceded collisions / errors sending a message with standard level can be expected.
  • the bus system 1, 2 is in particular a CAN network or a CAN FD network or a Flex Ray network or an SPI network.
  • one of the two bus wires 41, 42 connected to ground and thus is a Masseader and the other of the two bus wires 41, 42 is a signal wire on which the bus signal for the messages 45, 46, 47 is transmitted ,
  • Bus system 1, 2 is arbitrary. In particular, only subscriber stations 10 or subscriber stations 30 can be present in the bus systems 1, 2 of the exemplary embodiments.
  • the functionality of the embodiments described above can be implemented not only in a transceiver 12. Additionally or alternatively, the functionality can be integrated into existing products. In particular, it is possible that the functionality under consideration either in a transmitting / receiving device 12 as a separate electronic component (Chip) is realized or embedded in an integrated overall solution in which only one electronic component (chip) is present.
  • Chip separate electronic component

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  • Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)
  • Dc Digital Transmission (AREA)

Abstract

L'invention concerne une station d'abonné (10) pour un système de bus (1 ; 2) et un procédé de transmission de données dans un système de bus (1 ; 2). La station d'abonné (10) comporte un dispositif d'émission/réception (12) destiné à émettre un message (45 ; 46 ; 47) vers et/ou à recevoir un message (45 ; 46 ; 47) de la part d'une ou plusieurs stations d'abonné (20 ; 30) supplémentaires du système de bus (1 ; 2) par le biais d'un bus (40). Le dispositif d'émission/réception (12) est équipé pour abaisser une tension différentielle d'une première valeur de tension prédéfinie, destinée à une transmission de données dans un premier intervalle de temps, à une deuxième valeur de tension prédéfinie, destinée à une transmission de données dans un deuxième intervalle de temps, ou de l'augmenter de nouveau de la deuxième valeur de tension prédéfinie à la première valeur de tension prédéfinie et abaisser le seuil de décision (125, 126) pour la réception de bits du message (45 ; 46 ; 47) dans le deuxième intervalle de temps d'une première valeur de seuil prédéfinie, destinée à une transmission de données dans le premier intervalle de temps, à une deuxième valeur de seuil prédéfinie, destinée à une transmission de données dans le deuxième intervalle de temps, ou de l'augmenter de nouveau de la deuxième valeur de seuil prédéfinie à la première valeur de seuil prédéfinie. La station d'abonné (10) est configurée pour émettre ou recevoir les messages (45 ; 47) dans le deuxième intervalle de temps avec un débit de transmission de données plus élevé que dans le premier intervalle de temps.
EP17811285.0A 2016-12-14 2017-12-06 Station d'abonné pour un système de bus et procédé de transmission de données dans un système de bus Withdrawn EP3556058A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016224961.4A DE102016224961A1 (de) 2016-12-14 2016-12-14 Teilnehmerstation für ein Bussystem und Verfahren zur Datenübertragung in einem Bussystem
PCT/EP2017/081670 WO2018108666A1 (fr) 2016-12-14 2017-12-06 Station d'abonné pour un système de bus et procédé de transmission de données dans un système de bus

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EP3556058A1 true EP3556058A1 (fr) 2019-10-23

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EP (1) EP3556058A1 (fr)
KR (1) KR20190103202A (fr)
CN (1) CN110301115B (fr)
DE (1) DE102016224961A1 (fr)
WO (1) WO2018108666A1 (fr)

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DE102020205278A1 (de) * 2020-04-27 2021-10-28 Robert Bosch Gesellschaft mit beschränkter Haftung Kommunikationssteuereinrichtung und Sende-/Empfangseinrichtung für eine Teilnehmerstation eines seriellen Bussystems und Verfahren zur Kommunikation in einem seriellen Bussystem

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Publication number Publication date
CN110301115A (zh) 2019-10-01
WO2018108666A1 (fr) 2018-06-21
KR20190103202A (ko) 2019-09-04
DE102016224961A1 (de) 2018-06-14
CN110301115B (zh) 2021-12-21

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