Vehicle and method for controlling the same

A method for controlling a vehicle including a plurality of controllers each connected through a connector to a communication line between at least one load and a gateway, the method comprising:

• controlling operation of the at least one load by sharing information between the plurality of controllers during a driving of the vehicle;
• recognizing error information when it is determined that a communication error has occurred in at least one controller of the plurality of controllers or the gateway;
• and
• transmitting, to a diagnostor, the error information when an error information transmission command is received from the diagnostor,
• wherein recognizing the error information comprises:
• recognizing the error information by the controller of the plurality of controllers that has not received the information for a predetermined amount of time, and
• wherein the controller of the plurality of controllers that has not received the information for the predetermined amount of time is configured to:
• transmit a preset number of times of communication signals to another controller of the plurality of controllers and the gateway;
• count a number of times of that received a response signal from the another controller of the plurality of controllers and the number of times that received the response signal from the gateway;
• recognize an error code based on the counted number of times that received the response signal from the another controller of the plurality of controllers and the gateway;
• and
• store the counted number of times that received the response signal from the another controller of the plurality of controllers and the gateway and the recognized error code as the error information,
• wherein recognizing the error code comprises:
• counting a first number of times that received the response signal from at least two controllers of the plurality of controllers and a second number of times that received the response signal from the gateway;
• recognizing the error code as a bus off when the first number of times and the second number of times are less than the preset number of times, and the first number of times is equal to the second number of times;
• and
• recognizing the error code as a time-out when a portion from the first number of times and the second number of times is less than the preset number of times.

A vehicle comprising:

• at least one load;
• a gateway connected to the at least one load through a communication line;
• each controller of a plurality of controllers connected through a connector to the communication line and configured to control the at least one load;
• and
• a memory configured to store arrangement information of the plurality of controllers and the gateway,
• wherein at least one controller of the plurality of controllers is configured to:
• transmit communication signals to another controller of the plurality of controllers and the gateway when the communication is impossible for a predetermined amount of time;
• identify number of times that received a response signal from the another controller of the plurality of the controllers and the gateway;
• determine a position of the connector that a connection error has occurred based on the identified number of times and the arrangement information;
• and
• store the determined position of the connector,
• wherein the memory is configured to store identification information of the plurality of controllers, identification information of the gateway and a transmission order of communication signals, and
• wherein the at least one controller of the plurality of controllers is configured to:
• sequentially transmit the preset number of times of communication signals to the another controller of the plurality of controllers and the gateway based on the transmission order of the communication signals;
• recognize an error code as a bus off when a first number of times that received the response signal from the another controller of the plurality of controllers is equal to a second number of times that received the response signal from the gateway;
• and
• recognize the error code as a time-out when the first number of times is not equal to the second number of times.