# US 12,113,613 B2 · Method for verifying the validity of sensor data of an ethernet onboard network

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,113,613 B2
- Document ID: US12113613B2
- Status: Granted
- Kind: B2
- Application number: 17/784,320
- Filed: 2020-12-16
- Published: 2023-02-23
- Granted: 2024-10-08
- Earliest claimed: 2019-12-20
- Assignees: Continental Automotive GmbH
- Applicants: Continental Automotive GmbH
- Inventors: Helge Zinner
- Web page: https://patentgrep.com/patent/US12113613B2

## CPC

- H04J 3/0661: {using timestamps}
- H04J 3/0667: {Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays (arrangements for monitoring round trip delays in packet switching networks H04L43/0864)}
- H04J 3/14: Monitoring arrangements {(for SDH/SONET rings H04J3/085)}
- H04L 12/413: with random access, e.g. carrier-sense multiple-access with collision detection [CSMA-CD]
- H04L 43/0858: {One way delays}
- G01D 2218/10: Testing of sensors or measuring arrangements
- H04J: MULTIPLEX COMMUNICATION (transmission in general H04B; peculiar to transmission of digital information H04L5/00; systems for the simultaneous or sequential transmission of more than one television signal H04N7/08; in exchanges H04Q11/00; stereophonic systems H04S)
- H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M)
- G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR

## Abstract

The validity of sensor data of an Ethernet onboard network in a motor vehicle is checked by: determining a delay time of a first signal on a first connecting path between a first control unit of the Ethernet onboard network and a second control unit of the Ethernet onboard network; determining a maximum speed of the first connecting path on the basis of the delay time; and determining a type of a transmission medium of the first connecting path on the basis of the maximum speed. The following steps are also carried out: identifying at least a first control unit of the Ethernet onboard network, synchronizing at least a first control unit of the Ethernet onboard network, ascertaining the synchronization interval, ascertaining a drift of a timer of the first control unit, ascertaining a timestamp of the first control unit, reading a timestamp of the first control unit.

## Claims

### Claim 1

A method for checking the validity of time synchronization of sensor data of an Ethernet onboard network in a motor vehicle, in which the following steps are carried out:
determining a delay time of a first signal on a first connecting path between a first control unit of the Ethernet onboard network and a second control unit of the Ethernet onboard network;
determining a maximum speed of the first connecting path on the basis of the delay time; and
determining a type of a transmission medium of the first connecting path on the basis of the maximum speed,
characterized in that the following steps are carried out:
identifying at least the first control unit of the Ethernet onboard network;
synchronizing at least the first control unit of the Ethernet onboard network;
ascertaining a synchronization interval;
ascertaining a drift of a timer of the first control unit;
ascertaining a timestamp of the first control unit;
reading a timestamp or querying the time of the first control unit;
comparing the timestamp with a reference clock of the Ethernet onboard network;
carrying out a delay time measurement;
ascertaining the speed of an associated clock generator;
ascertaining a time difference of the synchronization interval;
ascertaining a last synchronization.

### Claim 2 (depends on 1)

The method as claimed in claim 1, characterized in that the drift of the timer is ascertained via the Institute of Electrical and Electronics Engineers Standard for Local and Metropolitan Area Networks-Timing and Synchronization for Time-Sensitive Applications (IEEE 802.1AS) protocol.

### Claim 3 (depends on 1)

The method as claimed in claim 1, characterized in that the comparison of the timestamp with a reference clock of the Ethernet onboard network results in a difference being calculated in the form Tdeviation=Treference−Tsuspect, wherein Tdeviation is the comparison of the timestamp with a reference clock of the Ethernet onboard network, Treference is a sensor-fusion time, and Tsuspect is a read or queried time.

### Claim 4 (depends on 1)

The method as claimed claim 1, characterized in that the speed of the clock generator is ascertained via a Precision Time Protocol Neighbor Rate Ratio (PTP NRR) method.

### Claim 5 (depends on 1)

The method as claimed in claim 1, characterized in that
the type of the transmission medium and the
ascertainment of the synchronization interval
ascertainment of a drift of a timer of the first control unit
ascertainment of a timestamp of the first control unit
ascertainment of the speed of the associated clock generator
ascertainment of the time difference of the synchronization interval
ascertainment of the last synchronization
are communicated to a program in the Ethernet onboard network and a connecting path selection of the program is adapted on the basis of the type of the transmission medium.

### Claim 6 (depends on 1)

The method as claimed in claim 1, characterized in that
the type of the transmission medium is determined as optical, copper or wireless.

### Claim 7 (depends on 1)

The method as claimed in claim 1, characterized in that a transmission security value, which describes a probability of loss of data transmitted by way of the first connecting path, is assigned to the first connecting path on the basis of the type of the transmission medium.

### Claim 8 (depends on 1)

The method as claimed in claim 1, characterized in that delay times of a plurality of signals on the first connecting path are determined and the fastest delay time of the plurality of signals is selected, the maximum speed of the first connecting path being determined on the basis of the fastest delay time.

### Claim 9 (depends on 1)

The method as claimed in claim 1, characterized in that a delay time of a second signal on a second connecting path, which is different from the first connecting path, between the first control unit and the second control unit is determined, and a maximum speed of the second connecting path is determined, a type of the transmission medium of the second connecting path being determined on the basis of the maximum speed of the second connecting path.

### Claim 10 (depends on 1)

The method as claimed in claim 1, characterized in that the method is performed after the first control unit changes from a normal operating mode to an energy-saving mode, or after the first control unit changes from the energy-saving mode to the normal operating mode, or after the first control unit changes both from the normal operating mode to the energy-saving mode and from the energy-saving mode to the normal operating mode.

### Claim 11 (depends on 1)

The method as claimed in claim 1, characterized in that the delay time of the first signal is determined using the first control unit and a delay time of a third signal on a third connecting path, which is connected to the first control unit only indirectly, between the second control unit and a third control unit of the Ethernet onboard network is determined using the third control unit, the determination of the delay time of the third signal being triggered by a service message sent from the first control unit to the third control unit.

### Claim 12

A control unit for an Ethernet onboard network, which, as a first control unit, is designed:
to send a signal to a second control unit of the Ethernet onboard network and to receive the signal from the second control unit;
to determine a delay time of the signal on a connecting path to the second control unit;
to determine a maximum speed of the connecting path on the basis of the delay time; and
to determine a type of a transmission medium of the connecting path on the basis of the maximum speed,
and at least includes
a microprocessor,
a volatile memory and nonvolatile memory,
at least two communication interfaces,
a synchronizable timer,
the nonvolatile memory containing program instructions that, when executed by the microprocessor,
characterized in that cause checking of the validity of time synchronization of sensor data of an Ethernet onboard network in a motor vehicle, by performing operations comprising:
determining a delay time of a first signal on a first connecting path between a first control unit of the Ethernet onboard network and a second control unit of the Ethernet onboard network;
determining a maximum speed of the first connecting path on the basis of the delay time; and
determining a type of a transmission medium of the first connecting path on the basis of the maximum speed,
characterized in that the following steps are carried out:
identifying at least the first control unit of the Ethernet onboard network;
synchronizing at least the first control unit of the Ethernet onboard network;
ascertaining a synchronization interval;
ascertaining a drift of a timer of the first control unit;
ascertaining a timestamp of the first control unit;
reading a timestamp or querying the time of the first control unit;
comparing the timestamp with a reference clock of the Ethernet onboard network;
carrying out a delay time measurement;
ascertaining the speed of an associated clock generator;
ascertaining a time difference of the synchronization interval;
ascertaining a last synchronization.

### Claim 13 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that the drift of the timer is ascertained via the Institute of Electrical and Electronics Engineers Standard for Local and Metropolitan Area Networks-Timing and Synchronization for Time-Sensitive Applications (IEEE 802.1AS) protocol.

### Claim 14 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that the comparison of the timestamp with a reference clock of the Ethernet onboard network results in a difference being calculated in the form Tdeviation=Treference−Tsuspect, wherein Tdeviation is the comparison of the timestamp with a reference clock of the Ethernet onboard network, Treference is a sensor-fusion time, and Tsuspect is a read or queried time.

### Claim 15 (depends on 12)

The control unit for an Ethernet onboard network as claimed claim 12, characterized in that the speed of the clock generator is ascertained via the Precision Time Protocol Neighbor Rate Ratio (PTP NRR) method.

### Claim 16 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that
the type of the transmission medium and the
ascertainment of the synchronization interval
ascertainment of a drift of a timer of the first control unit
ascertainment of a timestamp of the first control unit
ascertainment of the speed of the associated clock generator
ascertainment of the time difference of the synchronization interval
ascertainment of the last synchronization
are communicated to a program in the Ethernet onboard network and a connecting path selection of the program is adapted on the basis of the type of the transmission medium.

### Claim 17 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that
the type of the transmission medium is determined as optical, copper or wireless.

### Claim 18 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that a transmission security value, which describes a probability of loss of data transmitted by way of the first connecting path, is assigned to the first connecting path on the basis of the type of the transmission medium.

### Claim 19 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that delay times of a plurality of signals on the first connecting path are determined and the fastest delay time of the plurality of signals is selected, the maximum speed of the first connecting path being determined on the basis of the fastest delay time.

### Claim 20 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that a delay time of a second signal on a second connecting path, which is different from the first connecting path, between the first control unit and the second control unit is determined, and a maximum speed of the second connecting path is determined, a type of the transmission medium of the second connecting path being determined on the basis of the maximum speed of the second connecting path.

### Claim 21 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that the method is performed after the first control unit changes from a normal operating mode to an energy-saving mode, or after the first control unit changes from the energy-saving mode to the normal operating mode, or after the first control unit changes both from the normal operating mode to the energy-saving mode and from the energy-saving mode to the normal operating mode.

### Claim 22 (depends on 12)

The control unit for an Ethernet onboard network as claimed in claim 12, characterized in that the delay time of the first signal is determined using the first control unit and a delay time of a third signal on a third connecting path, which is connected to the first control unit only indirectly, between the second control unit and a third control unit of the Ethernet onboard network is determined using the third control unit, the determination of the delay time of the third signal being triggered by a service message sent from the first control unit to the third control unit.

### Claim 23

An Ethernet onboard network for a motor vehicle, having a first control unit and a second control unit, wherein the control units are connected to one another by way of at least one connecting path, wherein the Ethernet onboard network is configured to perform operations comprising:
determining a delay time of a first signal on a first connecting path between the first control unit of the Ethernet onboard network and the second control unit of the Ethernet onboard network;
determining a maximum speed of the first connecting path on the basis of the delay time; and
determining a type of a transmission medium of the first connecting path on the basis of the maximum speed,
characterized in that the following steps are carried out:
identifying at least the first control unit of the Ethernet onboard network;
synchronizing at least the first control unit of the Ethernet onboard network;
ascertaining a synchronization interval;
ascertaining a drift of a timer of the first control unit;
ascertaining a timestamp of the first control unit;
reading a timestamp or querying the time of the first control unit;
comparing the timestamp with a reference clock of the Ethernet onboard network;
carrying out a delay time measurement;
ascertaining the speed of an associated clock generator;
ascertaining a time difference of the synchronization interval;
ascertaining a last synchronization; and
wherein the first control unit is in a form such that the delay time of the first signal is determined using the first control unit and a delay time of a third signal on a third connecting path, which is connected to the first control unit only indirectly, between the second control unit and a third control unit of the Ethernet onboard network is determined using the third control unit, the determination of the delay time of the third signal being triggered by a service message sent from the first control unit to the third control unit.

### Claim 24

A non-transitory computer-readable medium having stored thereon computer-executable instructions that, when executed by a computer, cause said computer to perform operations comprising:
determining a delay time of a first signal on a first connecting path between a first control unit of the Ethernet onboard network and a second control unit of the Ethernet onboard network;
determining a maximum speed of the first connecting path on the basis of the delay time; and
determining a type of a transmission medium of the first connecting path on the basis of the maximum speed,
characterized in that the following steps are carried out:
identifying at least the first control unit of the Ethernet onboard network;
synchronizing at least the first control unit of the Ethernet onboard network;
ascertaining a synchronization interval;
ascertaining a drift of a timer of the first control unit;
ascertaining a timestamp of the first control unit;
reading a timestamp or querying the time of the first control unit;
comparing the timestamp with a reference clock of the Ethernet onboard network;
carrying out a delay time measurement;
ascertaining the speed of an associated clock generator;
ascertaining a time difference of the synchronization interval;
ascertaining a last synchronization.

### Claim 25 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that the drift of the timer is ascertained via the Institute of Electrical and Electronics Engineers Standard for Local and Metropolitan Area Networks-Timing and Synchronization for Time-Sensitive Applications (IEEE 802.1AS) protocol.

### Claim 26 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that the comparison of the timestamp with a reference clock of the Ethernet onboard network results in a difference being calculated in the form Tdeviation=Treference−Tsuspect, wherein Tdeviation is the comparison of the timestamp with a reference clock of the Ethernet onboard network, Treference is a sensor-fusion time, and Tsuspect is a read or queried time.

### Claim 27 (depends on 24)

The non-transitory computer-readable medium as claimed claim 24, characterized in that the speed of the clock generator is ascertained via the Precision Time Protocol Neighbor Rate Ratio (PTP NRR) method.

### Claim 28 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that
the type of the transmission medium and the
ascertainment of the synchronization interval
ascertainment of a drift of a timer of the first control unit
ascertainment of a timestamp of the first control unit
ascertainment of the speed of the associated clock generator
ascertainment of the time difference of the synchronization interval
ascertainment of the last synchronization
are communicated to a program in the Ethernet onboard network and a connecting path selection of the program is adapted on the basis of the type of the transmission medium.

### Claim 29 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that
the type of the transmission medium is determined as optical, copper or wireless.

### Claim 30 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that a transmission security value, which describes a probability of loss of data transmitted by way of the first connecting path, is assigned to the first connecting path on the basis of the type of the transmission medium.

### Claim 31 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that delay times of a plurality of signals on the first connecting path are determined and the fastest delay time of the plurality of signals is selected, the maximum speed of the first connecting path being determined on the basis of the fastest delay time.

### Claim 32 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that a delay time of a second signal on a second connecting path, which is different from the first connecting path, between the first control unit and the second control unit is determined, and a maximum speed of the second connecting path is determined, a type of the transmission medium of the second connecting path being determined on the basis of the maximum speed of the second connecting path.

### Claim 33 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that the method is performed after the first control unit changes from a normal operating mode to an energy-saving mode, or after the first control unit changes from the energy-saving mode to the normal operating mode, or after the first control unit changes both from the normal operating mode to the energy-saving mode and from the energy-saving mode to the normal operating mode.

### Claim 34 (depends on 24)

The non-transitory computer-readable medium as claimed in claim 24, characterized in that the delay time of the first signal is determined using the first control unit and a delay time of a third signal on a third connecting path, which is connected to the first control unit only indirectly, between the second control unit and a third control unit of the Ethernet onboard network is determined using the third control unit, the determination of the delay time of the third signal being triggered by a service message sent from the first control unit to the third control unit.

### Claim 35

A vehicle having multiple control units comprising an Ethernet onboard network, wherein a control unit for the Ethernet onboard network, which, as a first control unit, is designed:
to send a signal to a second control unit of the Ethernet onboard network and to receive the signal from the second control unit;
to determine a delay time of the signal on a connecting path to the second control unit;
to determine a maximum speed of the connecting path on the basis of the delay time; and
to determine a type of a transmission medium of the connecting path on the basis of the maximum speed,
and at least includes
a microprocessor,
a volatile memory and nonvolatile memory,
at least two communication interfaces,
a synchronizable timer,
the nonvolatile memory containing program instructions that, when executed by the microprocessor,
characterized in that cause checking of the validity of time synchronization of sensor data of an Ethernet onboard network in a motor vehicle, by performing operations comprising:
determining a delay time of a first signal on a first connecting path between the first control unit of the Ethernet onboard network and a second control unit of the Ethernet onboard network;
determining a maximum speed of the first connecting path on the basis of the delay time; and
determining a type of a transmission medium of the first connecting path on the basis of the maximum speed,
characterized in that the following steps are carried out:
identifying at least a first control unit of the Ethernet onboard network;
synchronizing at least the first control unit of the Ethernet onboard network;
ascertaining a synchronization interval;
ascertaining a drift of a timer of the first control unit;
ascertaining a timestamp of the first control unit;
reading a timestamp or querying the time of the first control unit;
comparing the timestamp with a reference clock of the Ethernet onboard network;
carrying out a delay time measurement;
ascertaining the speed of an associated clock generator;
ascertaining a time difference of the synchronization interval;
ascertaining a last synchronization.

### Claim 36 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that the drift of the timer is ascertained via the Institute of Electrical and Electronics Engineers Standard for Local and Metropolitan Area Networks-Timing and Synchronization for Time-Sensitive Applications (IEEE 802.1AS) protocol.

### Claim 37 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that the comparison of the timestamp with a reference clock of the Ethernet onboard network results in a difference being calculated in the form Tdeviation=Treference−Tsuspect, wherein Tdeviation is the comparison of the timestamp with a reference clock of the Ethernet onboard network, Treference is a sensor-fusion time, and Tsuspect is a read or queried time.

### Claim 38 (depends on 35)

The vehicle having multiple control units as claimed claim 35, characterized in that the speed of the clock generator is ascertained via the Precision Time Protocol Neighbor Rate Ratio (PTP NRR) method.

### Claim 39 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that
the type of the transmission medium and the
ascertainment of the synchronization interval
ascertainment of a drift of a timer of the first control unit
ascertainment of a timestamp of the first control unit
ascertainment of the speed of the associated clock generator
ascertainment of the time difference of the synchronization interval
ascertainment of the last synchronization
are communicated to a program in the Ethernet onboard network and a connecting path selection of the program is adapted on the basis of the type of the transmission medium.

### Claim 40 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that
the type of the transmission medium is determined as optical, copper or wireless.

### Claim 41 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that a transmission security value, which describes a probability of loss of data transmitted by way of the first connecting path, is assigned to the first connecting path on the basis of the type of the transmission medium.

### Claim 42 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that delay times of a plurality of signals on the first connecting path are determined and the fastest delay time of the plurality of signals is selected, the maximum speed of the first connecting path being determined on the basis of the fastest delay time.

### Claim 43 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that a delay time of a second signal on a second connecting path, which is different from the first connecting path, between the first control unit and the second control unit is determined, and a maximum speed of the second connecting path is determined, a type of the transmission medium of the second connecting path being determined on the basis of the maximum speed of the second connecting path.

### Claim 44 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that the method is performed after the first control unit changes from a normal operating mode to an energy-saving mode, or after the first control unit changes from the energy-saving mode to the normal operating mode, or after the first control unit changes both from the normal operating mode to the energy-saving mode and from the energy-saving mode to the normal operating mode.

### Claim 45 (depends on 35)

The vehicle having multiple control units as claimed in claim 35, characterized in that the delay time of the first signal is determined using the first control unit and a delay time of a third signal on a third connecting path, which is connected to the first control unit only indirectly, between the second control unit and a third control unit of the Ethernet onboard network is determined using the third control unit, the determination of the delay time of the third signal being triggered by a service message sent from the first control unit to the third control unit.