Journal article Open Access
Formal timing analysis of CAN-to-Ethernet gateway strategies in automotive networks
Thiele, Daniel; Schlatow, Johannes; Axer, Philip; Ernst, Rolf
Due to increased bandwidth and scalability demands, Ethernet technology is finding its way into recent in-vehicle networks. Tomorrow’s heterogeneous networks will feature legacy buses [e.g. controller area network (CAN) or FlexRay] as well as high-speed Ethernet devices, connected by switches and gateways. As Ethernet offers significantly larger frame sizes than CAN, the efficient transmission of CAN data over an Ethernet backbone depends heavily on the way this data is multiplexed into Ethernet frames. This article focuses on the timing impact introduced by various CAN/Ethernet multiplexing strategies at the gateways. We present a formal analysis method to derive upper bounds on end-to-end latencies for complex multiplexing strategies, which is key for the design of safety-critical real-time systems. We capture complex inter-domain signal paths spanning multiple buses, gateways, and switches and show the applicability in a realistic automotive setup.
| Name | Size | |
|---|---|---|
|
2015RTSJ-TUBS.1.pdf
md5:75f6167acf03999ac58faf70c4c2bd54 |
1.4 MB | Download |
AUTOSAR (2015) Release 4.2.2, Specification of socket adapter
Ayed H, Mifdaoui A, Fraboul C (2011) Gateway optimization for an heterogeneous avionics network afdx-can. In: IEEE real-time systems symposium (RTSS)
Bauer H, Scharbarg JL, Fraboul C (2010) Improving the worst-case delay analysis of an afdx network using an optimized trajectory approach. IEEE Trans Ind Inf 6:521–533
CrossRef
CrossRef
CrossRef
CrossRef
CrossRef
Davis R, Burns A, Bril R, Lukkien J (2007) Controller area network (can) schedulability analysis: refuted, revisited and revised. Real-Time Syst 35(3):239–272
Diemer J, Axer P, Ernst R (2012a) Compositional performance analysis in python with pycpa. In: Proceedings of WATERS. http://retis.sssup.it/waters2012/WATERS-2012-Proceedings.pdf
Diemer J, Rox J, Ernst R (2012b) Modeling of ethernet avb networks for worst-case timing analysis. In: Proceedings of MATHMOD
Diemer J, Rox J, Negrean M, Stein S, Ernst R (2011) Real-time communication analysis for networks with two-stage arbitration. In: Proceedings of EMSOFT, pp 243–252
Feiertag N, Richter K, Nordlander J, Jonsson J (2008) A compositional framework for end-to-end path delay calculation of automotive systems under different path semantics. In: Work on compositional theory and technology for real-time embedded systems CRTS
Henia R, Hamann A, Jersak M, Racu R, Richter K, Ernst R (2005) System level performance analysis—-the SymTA/S approach. IEE Proc Comput Digit Tech 152(2):148–166
Herber C, Richter A, Wild T, Herkersdorf A (2015) Real-time capable can to avb ethernet gateway using frame aggregation and scheduling. In: Proceedings of design, automation and test in Europe (DATE)
Kern A, Reinhard D, Streichert T, Teich J (2011) Gateway strategies for embedding of automotive CAN-frames into ethernet-packets and vice versa. In: Architecture of computing systems, pp 259–270
Lehoczky J (1990) Fixed priority scheduling of periodic task sets with arbitrary deadlines. In: Proceedings of 11th RTSS, pp 201–209. doi:10.1109/REAL.1990.128748
Nacer A, Jaffres-Runser K, Scharbarg JL, Fraboul C (2013) Strategies for the interconnection of can buses through an ethernet switch. In: IEEE international symposium on industrial embedded systems (SIES), pp 77–80
Perathoner S, Rein T, Thiele L, Lampka K, Rox J (2010) Modeling structured event streams in system level performance analysis. In: ACM SIGPLAN/SIGBED conference on languages, compilers and tools for embedded systems (LCTES). ACM, Sweden, pp 37–46
Pop P, Eles P, Peng Z (2005) Schedulability-driven frame packing for multicluster distributed embedded systems. ACM Trans Embed Comput Syst 4(1):112–140
Revsbech K, Schiøler H, Madsen TK, Nielsen JJ (2011) Worst-case traversal time modelling of ethernet based in-car networks using real time calculus. In: Proceedings of NEW2AN, pp 219–230
Richter K (2005) Compositional scheduling analysis using standard event models. Ph.D. Thesis, TU Braunschweig
Rox J, Ernst R (2008) Modeling event stream hierarchies with hierarchical event models. In: Proceedings of design, automation and test in Europe DATE’08, pp 492–497. doi:10.1109/DATE.2008.4484729
Rox J, Ernst R (2010) Formal timing analysis of full duplex switched based ethernet network architectures. In: SAE World Congress, vol System level architecture design tools and methods
Saket R, Navet N (2006) Frame packing algorithms for automotive applications. J Embed Comput 2:93–102
Scharbarg J, Boyer M, Fraboul C (2005) Can-ethernet architectures for real-time applications. In: IEEE conference on emerging technologies and factory automation (ETFA), vol 2, pp 8–252
Schliecker S, Rox J, Ivers M, Ernst R (2008) Providing accurate event models for the analysis of heterogeneous multiprocessor systems. In: Proceedings of CODES-ISSS, pp 185–190
Thiele D, Axer P, Ernst R, Seyler JR (2014) Improving formal timing analysis of switched ethernet by exploiting traffic stream correlations. In: Proceedings of CODE+ISSS, New Delhi
Thiele L, Chakraborty S, Naedele M (2000) Real-time calculus for scheduling hard real-time systems. In: Proceedings of IEEE international symposium on circuits and systems (ISCAS), vol 4, pp 101–104. doi:10.1109/ISCAS.2000.858698
Zhang L, Gao H, Kaynak O (2013) Network-induced constraints in networked control systems—a survey. IEEE Trans Ind Inf 9(1):403–416
| Views | 113 |
| Downloads | 47 |
| Data volume | 65.9 MB |
| Unique views | 111 |
| Unique downloads | 39 |
- Publication date:
- October 7, 2015
- DOI:
-
- Keyword(s):
- automotive ethernet real-time embedded systems performance analysis CAN gateway networks distributed systems
- Published in:
- The International Journal of Time-Critical Computing Systems: 52 (2015) pp. 88-112 (1).
- Communities:
- License (for files):
- Creative Commons Attribution 4.0 International