Abstract
A typical automotive integrated architecture is a controller area network (CAN) cluster integrated by a central gateway. This study proposes a novel and exact worst-case response time (WCRT) analysis method for message-processing tasks in the gateway. We first propose a round search method to obtain lower bound on response time (LBRT) and upper bound on response time (UBRT), respectively. We then obtain the exact WCRT belonging to the scope of the LBRT and UBRT with an effective non-exhaustive exploration. Experimental results on a real CAN message set reveal that the proposed exact analysis method can reduce 99.99999% combinations on large-scale CAN clusters.
- Ekain Azketa, J. Javier Gutiérrez, J. Carlos Palencia, Michael González Harbour, Luis Almeida, and Marga Marcos. 2012. Schedulability analysis of multi-packet messages in segmented CAN. In Proceedings of the IEEE 17th Conference on Emerging Technologies and Factory Automation (ETFA’12). IEEE, 1--8.Google Scholar
Cross Ref
- Jon Louis Bentley. Sep. 1975. Multidimensional binary search trees used for associative searching. Commun. ACM 18, 9 (Sep. 1975), 509--517. Google Scholar
Digital Library
- Florin Cătălin Brăescu, Lavinia Ferariu, and Andrei Nacu. 2011. OSEK-based gateway algorithm for multi-domain CAN systems. In Proceedings of the IEEE International Conference on Intelligent Computer Communication and Processing (ICCP’11). IEEE, 423--428.Google Scholar
Cross Ref
- Yang Chen, Ryo Kurachi, Gang Zeng, and Hiroaki Takada. 2012. The worst-case response time analysis for FIFO-based offset assigned CAN messages. Journal of Information Processing 20, 2 (May 2012), 451--462.Google Scholar
Cross Ref
- Robert I. Davis, Alan Burns, Reinder J. Bril, and Johan J. Lukkien. 2007. Controller area network (CAN) schedulability analysis: Refuted, revisited and revised. Real-Time Systems 35, 3 (Apr. 2007), 239--272. Google Scholar
Digital Library
- Robert I. Davis, Steffen Kollmann, Victor Pollex, and Frank Slomka. 2013. Schedulability analysis for Controller area network (CAN) with FIFO queues priority queues and gateways. Real-Time Systems 49, 1 (Jan. 2013), 73--116. Google Scholar
Digital Library
- Marco Di Natale and Alberto Luigi Sangiovanni-Vincentelli. 2010. Moving from federated to integrated architectures in automotive: The role of standards, methods and tools. Proc. IEEE 98, 4 (Apr. 2010), 603--620.Google Scholar
Cross Ref
- Marco Di Natale, Haibo Zeng, Paolo Giusto, and Arkadeb Ghosal. 2012. Understanding and Using the Controller Area Network Communication Protocol: Theory and Practice. Springer Science 8 Business Media. Google Scholar
Digital Library
- Pavel Drazdil. 2005. AMIS-42700/AMIS-42770-Redundant Bus Connection. Technical Report. SAE Technical Paper. Retrieved from https://www.onsemi.com/pub/Collateral/AND8348-D.PDF.Google Scholar
- Nan Guan, Chuancai Gu, Martin Stigge, Qingxu Deng, and Wang Yi. 2014. Approximate response time analysis of real-time task graphs. In Proceedings of the IEEE Real-Time Systems Symposium (RTSS’14). IEEE, 304--313.Google Scholar
Cross Ref
- Michael Gonzalez Harbour, Mark H. Klein, and John P. Lehoczky. 1991. Fixed priority scheduling periodic tasks with varying execution priority. In Proceedings of the 12th IEEE Real-Time Systems Symposium (RTSS’91). IEEE, 116--128.Google Scholar
- Thomas Herpel. 2009. Performance Evaluation of Time-Critical Data Transmission in Automotive Communication Systems. Ph.D. Dissertation. University of Erlangen-Nuremberg.Google Scholar
- H. Hilmer, H. D. Kochs, and E. Dittmar. 1998. A CAN-based architecture for highly reliable communication systems. In Proceedings of the 5th CAN Conference. 6--10.Google Scholar
- Tasuku Ishigooka and Fumio Narisawa. 2010. Message packing algorithm for CAN-based legacy control systems mixed with CAN and FlexRay. SAE International Journal of Passenger Cars-Electronic and Electrical Systems 3, 2010-01-0685 (Apr. 2010), 88--97.Google Scholar
Cross Ref
- Mathai Joseph and Paritosh Pandya. 1986. Finding response times in a real-time system. Computer Journal 29, 5 (Jan. 1986), 390--395.Google Scholar
Cross Ref
- Andreas Kern, Dominik Reinhard, Thilo Streichert, and Jürgen Teich. 2011. Gateway strategies for embedding of automotive CAN-frames into ethernet-packets and vice versa. In Proceedings of the International Conference on Architecture of Computing Systems. Springer, 259--270. Google Scholar
Digital Library
- Jin Ho Kim, Suk-Hyun Seo, Nguyen-Tien Hai, Bo Mu Cheon, Young Seo Lee, and Jae Wook Jeon. 2015. Gateway framework for in-vehicle networks based on CAN, FlexRay, and Ethernet. IEEE Transactions on Vehicular Technology 64, 10 (Oct. 2015), 4472--4486.Google Scholar
Cross Ref
- S. Lee, D. H. Lee, M. H. Kim, and K. C. Lee. 2010. Traffic-balancing algorithm for can systems with dual communication channels to enhance the network capacity. International Journal of Automotive Technology 11, 4 (Aug. 2010), 525--531.Google Scholar
Cross Ref
- John P. Lehoczky. 1990. Fixed priority scheduling of periodic task sets with arbitrary deadlines. In Proceedings of the IEEE Real-Time Systems Symposium (RTSS’90). IEEE, 201--209.Google Scholar
Cross Ref
- Chung Laung Liu and James W. Layland. 1973. Scheduling algorithms for multiprogramming in a hard-real-time environment. Journal of the ACM (JACM) 20, 1 (Jan. 1973), 46--61. Google Scholar
Digital Library
- Saad Mubeen, Jukka Mäki-Turja, and Mikael Sjödin. 2012. Worst-case response-time analysis for mixed messages with offsets in controller area network. In Proceedings of the IEEE 17th Conference on Emerging Technologies and Factory Automation (ETFA’12). IEEE, 1--10.Google Scholar
Cross Ref
- Abdelaziz Ahmed Nacer, Katia Jaffres-Runser, Jean-Luc Scharbarg, and Christian Fraboul. 2013. Strategies for the interconnection of CAN buses through an Ethernet switch. In Proceedings of the 8th IEEE International Symposium on Industrial Embedded Systems (SIES’13). IEEE, 77--80.Google Scholar
Cross Ref
- Nicolas Navet, Shehnaz Louvart, Jose Villanueva, Sergio Campoy-Martinez, and Jörn Migge. 2014. Timing verification of automotive communication architectures using quantile estimation. In Embedded Real-Time Software and Systems (ERTS'14). 1--10.Google Scholar
- José Rufino. 1998. Redundant CAN architectures for dependable communication. Technical Report CSTC RT-97-07.Google Scholar
- Ece Guran Schmidt, Melih Alkan, Klaus Schmidt, E. Yürüklü, and Utku Karakaya. 2010. Performance evaluation of FlexRay/CAN networks interconnected by a gateway. In Proceedings of the International Symposium on Industrial Embedded Systems (SIES’10). IEEE, 209--212.Google Scholar
Cross Ref
- Suk-Hyun Seo, Jin-Ho Kim, Sung-Ho Hwang, Key Ho Kwon, and Jae Wook Jeon. 2012. A reliable gateway for in-vehicle networks based on LIN, CAN, and FlexRay. ACM Transactions on Embedded Computing Systems (TECS) 11, 1 (Mar. 2012), 7. Google Scholar
Digital Library
- Michal Sojka, Pavel Píša, Ondřej Špinka, and Zdeněk Hanzálek. 2011. Measurement automation and result processing in timing analysis of a Linux-based CAN-to-CAN gateway. In Proceedings of the IEEE 6th International Conference on Intelligent Data Acquisition and Advanced Computing Systems (IDAACS’11), Vol. 2. IEEE, 963--968.Google Scholar
Cross Ref
- Jorg Sommer and Rainer Blind. 2007. Optimized resource dimensioning in an embedded CAN-CAN gateway. In Proceedings of the International Symposium on Industrial Embedded Systems (SIES’07). IEEE, 55--62.Google Scholar
Cross Ref
- Martin Stigge and Wang Yi. 2013. Combinatorial abstraction refinement for feasibility analysis. In Proceedings of the 34th IEEE Real-Time Systems Symposium (RTSS’13). IEEE, 340--349. Google Scholar
Digital Library
- Hiroaki Takada and Ken Sakamura. 1997. Schedulability of generalized multiframe task sets under static priority assignment. In Proceedings of the 4th International Workshop on Real-Time Computing Systems and Applications. IEEE, 80--86. Google Scholar
Digital Library
- Jan Taube, Florian Hartwich, and Helmut Beikirch. 2005. Comparison of CAN gateway modules for automotive and industrial control applications. In Proceedings of the 10th International CAN Conference (iCC’05).Google Scholar
- Ken Tindell. 1994. Adding time-offsets to schedulability analysis. Technical Report YCS-221. Department of Computer Science, University of York.Google Scholar
- Ken Tindell, Alan Burns, and Andy J. Wellings. 1995. Calculating controller area network (CAN) message response times. Control Engineering Practice 3, 8 (Aug. 1995), 1163--1169.Google Scholar
Cross Ref
- Ken Tindell and John Clark. 1994. Holistic schedulability analysis for distributed hard real-time systems. Microprocessing and Microprogramming 40, 2--3 (1994), 117--134. Google Scholar
Digital Library
- Ken Tindell, H. Hanssmon, and Andy J. Wellings. 1994. Analysing real-time communications: Controller area network (CAN). In Proceedings of the IEEE Real-Time Systems Symposium (RTSS’94). 259--263.Google Scholar
- Guoqi Xie, Gang Zeng, Liangjiao Liu, Renfa Li, and Keqin Li. 2016. High performance real-time scheduling of multiple mixed-criticality functions in heterogeneous distributed embedded systems. Journal of Systems Architecture 70 (Oct. 2016), 3--14. Google Scholar
Digital Library
- Xie Yong, Zeng Gang, Chen Yang, Ryo Kurachi, Hiroaki Takada, and Li Renfa. 2013. Worst case response time analysis for messages in controller area network with gateway. IEICE Transactions on Information and Systems 96, 7 (Jul. 2013), 1467--1477.Google Scholar
- Qi Zhu, Haibo Zeng, Wei Zheng, Marco D. I. Natale, and Alberto Sangiovanni-Vincentelli. 2012. Optimization of task allocation and priority assignment in hard real-time distributed systems. ACM Transactions on Embedded Computing Systems (TECS) 11, 4 (Dec. 2012), 85. Google Scholar
Digital Library
Index Terms
Exact WCRT Analysis for Message-Processing Tasks on Gateway-Integrated In-Vehicle CAN Clusters
Recommendations
Gateway Modeling and Response Time Analysis on CAN Clusters of Automobiles
HPCC-CSS-ICESS '15: Proceedings of the 2015 IEEE 17th International Conference on High Performance Computing and Communications, 2015 IEEE 7th International Symposium on Cyberspace Safety and Security, and 2015 IEEE 12th International Conf on Embedded Software and SystemsA central gateway is a very important node for connecting the buses to pass messages from one bus to the other bus(es) in current in-vehicle networks. However, transmitting message through gateway causes additional delay to the end-toend delay of ...
On computing exact WCRT for DAG tasks
DAC '20: Proceedings of the 57th ACM/EDAC/IEEE Design Automation ConferenceMost current real-time parallel applications can be modeled as a directed acyclic graph (DAG) task. Existing worst-case response time (WCRT) bounds (e.g., Graham's bound) derived for DAGs may be very pessimistic. No one precisely knows the gap between ...
Uniform bounds of first‐order Marcum Q‐function
A new expression of the generalised Marcum Q‐function is obtained in terms of incomplete cylindrical function. Based on the new representation, new lower and upper bounds of the first‐order Marcum Q‐function are formulated. The bounds are represented in ...






Comments