Error detecting device and method of a dual controller system

An error detecting method of a dual controller system comprising:

• receiving a sensing data from a sensor to calculate and generate a first data by a first controller;
• receiving a sensing data from the sensor to calculate and generate a second data by a second controller;
• comparing the first data with the second data transmitted from the second controller by the first controller and outputting a final data if an error is not detected;
• receiving the final data from the first controller and transmitting the final data through a CAN bus to a CAN transceiver;
• and
• comparing the second data with the final data fed back from the CAN transceiver by the second controller and transmitting to the first controller an interrupt signal which prevents an output of the final data if an error is detected, wherein:
• outputting the final data comprises comparing the first data and the second data by a first comparing and controlling unit to detect the error and transmitting an output control signal to a first CAN module if the error is not detected, and operating according to the output control signal by the first CAN module and processing the first data according to a CAN protocol to transmit the final data;
• and
• transmitting the interrupt signal comprises processing the final data fed back from the CAN transceiver according to the CAN protocol by a second CAN module and transmitting a third data, comparing the second data with the first data transmitted from the first controller to detect the error by a second comparing unit and comparing the second data with the third data transmitted from the second CAN module to detect the error, and transmitting the interrupt signal to the first controller by the second control unit if the error is detected by the second comparing unit.

An error detecting device of a dual controller system comprising:

• a first controller transmitting a first data including a sensing data received from a sensor and an indicator, identifying an error of the sensing data and transmitting a first off control signal if the error is detected;
• a second controller generating a second data by calculating a sensing data received from the sensor, synchronizing the second data and the first data on the basis of the indicator included in the first data which is fed back from the first controller, and transmitting a second off control signal if the error is detected by comparing the synchronized second data with the first data;
• a CAN transceiver receiving the first data from the first controller and transmitting it through a CAN bus;
• and
• an AND switching unit outputting an interrupt signal to deactivate the CAN transceiver if at least one of the first and the second off control signals is input, wherein the first controller comprises a first input unit receiving the sensing data from the sensor per first time unit, a first calculating unit receiving the sensing data and calculating to generate the first data, a first control unit sampling the first data to a predetermined number of times to detect the error and transmitting the first off control signal to the AND switching unit if the error is detected, and a first CAN module operating according to an output control signal of the first control unit and processing and outputting the first data according to a CAN protocol.

An error detecting method of a dual controller system comprising:

• transmitting a first data including a sensing data received from a sensor and an indicator, by a first controller, identifying an error of the sensing data and transmitting a first off control signal if the error is detected;
• generating a second data by calculating a sensing data received from the sensor, by a second controller, synchronizing the second data and the first data on the basis of the indicator included in the first data which is fed back from the first controller, and transmitting a second off control signal if the error is detected by comparing the synchronized second data with the first data;
• receiving the first data from the first controller by a CAN transceiver and transmitting it through a CAN bus;
• and
• outputting an interrupt signal by an AND switching unit to deactivate the CAN transceiver if at least one of the first and the second off control signals is input, wherein transmitting the first off control signal by the first controller comprises receiving the sensing data by a first input unit from the sensor per first time unit, receiving the sensing data by a first calculating unit and calculating to generate the first data including the indicator, sampling the first data by a first control unit to a predetermined number of times to detect the error and transmitting the first off control signal to the AND switching unit if the error is detected, and operating by a first CAN module according to an output control signal of the first control unit and processing and outputting the first data according to a CAN protocol.