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In-Vehicle Communication SAN Group RTS Regular Meeting Presentation December 2008.

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Presentation on theme: "In-Vehicle Communication SAN Group RTS Regular Meeting Presentation December 2008."— Presentation transcript:

1 In-Vehicle Communication SAN Group RTS Regular Meeting Presentation December 2008

2 FLEXIBILITY A simple example of a periodic message set (a low network load of nearly 35%) b r = 250 kbps C M = 125 x (4x10 -3 ) = 0.5 msec MessageNodePeriod (msec)Size (bits) M1N15125 M2N26125 M3N38125 M4N410125 M5N510125

3 MessageNodePeriod (msec)Size (bits) M1N15125 M2N26125 M3N38125 M4N410125 M5N510125 0 msec 2.5 N1N2N3N4N5 The respective time-triggered schedule for the message set can be constructed as follows TDMA rounds (here 1 TDMA round) form the cluster cycle that repeats itself TDMA Round t TTP/C Scheduling

4 All 0 2.5 M1M2M3M4M5 0.51.01.52.0 0.5 2.5 5.0 3.03.54.04.5 M1 5.0 7.5 M1 5.56.06.57.0 M2 7.5 10.0 8.08.59.09.5 M2 Rt (M2’’) = 2.5 Rt (M3’’) = 1 Rt (M2’’’) = 1.5 Rt (M1) = 0.5 Rt (M4) = 2 Rt (M5) = 2.5 M1, M4 and M5 M3 10.0 12.5 10.511.011.512.0 M4M1M5 M3 N/w load = 35 % BU = 40 % M2

5 MessageNodePeriod (msec)Size (bits) M1N15125 M2N26125 M3N38125 M4N410125 M5N510125 Scheduling is based on FPNS Unique priority for each message (lower id. means higher priority t (msec) CAN Scheduling …. 05.05.56.0 M1M2 M1M2 6.5 …. 8.08.59.0 M3 9.510.010.5 M1, M4 and M5 M1M4M5 11.011.512.012.5 M2 Rt (M2’’) = 0.5 Rt (M3’’) = 0.5 Rt (M2’’’) = 0.5 Rt (M1) = 0.5 Rt (M4) = 1 Rt (M5) = 1.5 N/w load = 35 % BU = 41 % …. TT Results Rt (M2’’) = 2.5 Rt (M3’’) = 1 Rt (M2’’’) = 1.5 Rt (M1) = 0.5 Rt (M4) = 2 Rt (M5) = 2.5

6 A further example of a periodic message set (an average network load of nearly 50%) b r = 250 kbps C M = 125 x (4x10 -3 ) = 0.5 msec MessageNodePeriod (msec)Size (bits) M1N15125 M2N26125 M3N38125 M4N410125 M5N510125 M6N110125 M7N210125 M8N320125 M9N450125 M10N550125

7 TTP/C Scheduling t TDMA Round #1 2.5 0 N1 (M1) N2 (M2) N3 (M3) N4 (M4) N5 (M5) N1 (M6) N2 (M7) N3 (M8) N4 (M9) N5 (M10) 5.0 MessageNodePeriod (msec)Size (bits) M1N15125 M2N26125 M3N38125 M4N410125 M5N510125 M6N110125 M7N210125 M8N320125 M9N450125 M10N550125 Cluster Cycle TDMA Round #2

8 All 02.5 M1M2M3M4M5 3.01.01.52.00.5 M6M7M8M9M10 3.54.04.55.0 Node 1: M1, M6 Node 2: M2, M7 Node 3: M3, M8 Node 4: M4, M9 Node 5: M5, M10 M1 5.07.5 M1 8.06.06.57.05.58.59.09.510.0 M1, M4-7 10.0 12.5 M1M7 13.011.011.512.010.513.514.014.515.0 M1 M2 M3 M2M3 M2 15.017.5 M1M3 18.016.016.517.015.518.519.019.520.0 M1, M4-7, M8M2 M3 M4M5M6M2 20.0 22.5 M1M8M4M5 23.021.021.522.020.5 M6M7 23.524.024.525.0 M1 M2, M3 M2 25.0 27.5 M1 28.026.026.527.025.528.529.029.530.0 M1 M2M3 Rt (M2’’) = 2.5 Rt (M3’’) = 1 Rt (M2’’’) = 1.5 Rt (M4’’) = 2 Rt (M5’’) = 2.5 Rt (M6’’) = 3 Rt (M7’’) = 1 Rt (M8’’) = 1,5 M7 N/w load = 50 % BU = 60 %

9 CAN Scheduling Rt (M2’’) = 0.5 Rt (M3’’) = 0.5 Rt (M2’’’) = 0.5 Rt (M4’’) = 1 Rt (M5’’) = 1.5 Rt (M6’’) = 2 Rt (M7’’) = 3 Rt (M8’’) = 3 N/w load = 50 % BU = 63 % TT Results Rt (M2’’) = 2.5 Rt (M3’’) = 1 Rt (M2’’’) = 1.5 Rt (M4’’) = 2 Rt (M5’’) = 2.5 Rt (M6’’) = 3 Rt (M7’’) = 1 Rt (M8’’) = 1,5

10 A further example of a periodic message set (a high network load of nearly 85%) b r = 250 kbps C M = 125 x (4x10 -3 ) = 0.5 msec MessageNodePeriod (msec)Size (bits) M1N15125 M2N25125 M3N35125 M4N45125 M5N55125 M6N15125 M7N26125 M8N38125 M9N410125 M10N510125

11 TTP/C Scheduling t TDMA Round #1 2.5 0 N1 (M1) N2 (M2) N3 (M3) N4 (M4) N5 (M5) N1 (M6) N2 (M7) N3 (M8) N4 (M9) N5 (M10) 5.0 MessageNodePeriod (msec)Size (bits) M1N15125 M2N26125 M3N35125 M4N45125 M5N55125 M6N15125 M7N26125 M8N38125 M9N410125 M10N510125 Cluster Cycle TDMA Round #2

12 All 02.5 M1M2M3M4M5 3.01.01.52.00.5 M6M7M8M9M10 3.54.04.55.0 Node 1: M1, M6 Node 2: M2, M7 Node 3: M3, M8 Node 4: M4, M9 Node 5: M5, M10 M1-6 5.07.5 M1M2M3M4M5 8.06.06.57.05.5 M6 8.59.09.510.0 M1-6, M9-10 10.0 12.5 M1M2M3 13.011.011.512.010.5 M9M10 13.514.014.515.0 M1-6 M7 M8 M7M8 M7 15.017.5 M1M2M3M4M5 18.016.016.517.015.5 M6M8 18.519.019.520.0 M1-6, M9-10M7 M8 M4M5M6M7 20.0 22.5 M1M3M4M5 23.021.021.522.020.5 M6M9M10 23.524.024.525.0 M1-6 M7, M8 M7 25.0 27.5 M1M4M5 28.026.026.527.025.5 M6M7M8 28.529.029.530.0 M1-6, M7, M9-10 M2M3 Rt (M2’’) = 1 Rt (M3’’) = 1.5 Rt (M4’’’) = 2 Rt (M5’’) = 2.5 Rt (M6’’) = 3 Rt (M7’’) = 2.5 Rt (M8’’) = 1 Rt (M9’’) = 4.5 Rt (M10’’) = 5 Rt (M7’’’) = 1.5 Rt (M8’’’) = 3 Rt (M9’’’) = 4.5 Rt (M10’’’) = 5 Rt (M7 4 ) = 4.5 Rt (M8 4 ) = 5 M2 N/w load = 85 % BU = 88 %

13 CAN Scheduling Rt (M9’’) = 4 Rt (M10’’) = 4.5 Rt (M9’’’) = 3.5 Rt (M10’’’) = 4 Rt (M7 4 ) = 0.5 Rt (M8 4 ) = 1 N/w load = 85 % BU = 91 % TT Results Rt (M9’’) = 4.5 Rt (M10’’) = 5 Rt (M9’’’) = 4.5 Rt (M10’’’) = 5 Rt (M7 4 ) = 4.5 Rt (M8 4 ) = 5

14 dependability = predictability + reliability Predictable: Time-triggered manner, Predefined communication schedule Reliability: fault confinement and fault tolerance (a fault does not reveal an error in the system) DEPENDABILITY

15 Let us suppose that retransmissions occur for M1 (2), M2 (3), and M5 (2) as a result of some fault (faulty message) starting from the time 5 msec on the high load CAN network, –Error recovery time ~ 17-31 bits –Result in messages M6 and M7 miss their deadlines –CRC, retransmission and error counter –Very difficult to solve the problem –“Babbling idiot” fault –The node has to diagnose itself

16 For the TT network, –Retransmission is not allowed –No deadline miss for other messages –Because of predictability, easy to define and solve the problem –Replicated communication channels and nodes –CRC –Error handling strategy (fail silence and restart after a self test) –Fault confinement mechanisms: Bus guardian Membership functions Clique avoidance algorithm –Error Containment (control and data errors) CNI acts as control error containment boundaries For data errors, High Error Detection Coverage Mode (HEDC) provides two mechanisms, –end-to-end CRC calculation by application task (two CRC calculations) –Time redundant execution of application tasks at the sender

17 COMPOSABILITY For TT network –Communication not depending on host controller and application software in it since –System integration does not change temporal behavior –Thus composable w.r.t. temporal properties For CAN network –Temporal behavior is dependent on host controller

18 EXTENSIBILITY For the TT network, difficult to add new nodes and messages –Construction of new schedule (TDMA rounds that form cluster cycle) –Construction of Message Descriptor List (MEDL) For CAN network it is an easy process, –Update for message priorities

19 SubsystemCommunication Requirements Fault TolerancePredictabilityBandwidthFlexibilitySecurity Chassisyes someno Passive safetyyes no Powertrainyes no Bodysome no Multimedianosomeyes some X-by-wireyes no Telematicsnosome yes Diagnosticsnosomeyes In-vehicle Systems’ Requirements * * T. Nolte, “Share-driven scheduling of embedded networks”, Doctoral dissertation No. 26, Mälardalen University, Sweden, 2006.

20 Integration, coherence and interoperability of different in- vehicle networks in a car What makes FlexRay as a strongest candidate for in- vehicle networks instead of CAN? –Schedule construction –Fault tolerance –Performance analysis and comparison –Any possible improvement Reservation based approaches for event-triggered traffic of hybrid communication networks INITIAL RESEARCH QUESTIONS

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