Abstract
In automotive and industrial real-time software systems, the primary timing constraints relate to cause-effect chains. A cause-effect chain is a sequence of linked tasks and it typically implements the process of reading sensor data, computing algorithms, and driving actuators. The classic timing analysis computes the maximum end-to-end latency of a given cause-effect chain to verify that its end-to-end deadline can be satisfied in all cases. This information is useful but not sufficient in practice: Software is usually evolving and updates may always alter the maximum end-to-end latency. It would be desirable to judge the quality of a software design a priori by quantifying how robust the timing of a given cause-effect chain will be in the presence of software updates. In this article, we derive robustness margins which guarantee that if software extensions stay within certain bounds, then the end-to-end deadline of a cause-effect chain can still be satisfied. Robustness margins are also useful to know if the system model has uncertain parameters. A robust system design can tolerate bounded deviations from the nominal system model without violating timing constraints. The results are applicable to both the bounded execution time programming model and the (system-level) logical execution time programming model. In this article, we study both an industrial use case from the automotive industry and analyze synthetically generated experiments with our open-source tool TORO.
- [1] 2021. Arm Cortex-A series processors. Retrieved April 4, 2022 from https://developer.arm.com/ip-products/processors/cortex-a.Google Scholar
- [2] 2021. AUTomotive Open System ARchitecture. Retrieved April 4, 2022 from https://www.autosar.org/.Google Scholar
- [3] 2021. AUTOSAR Adaptive Platform Release Overview. Retrieved April 4, 2022 from https://www.autosar.org/fileadmin/user_upload/standards/adaptive/21-11/AUTOSAR_TR_AdaptivePlatformReleaseOverview.pdf.Google Scholar
- [4] 2021. AUTOSAR Classic Platform Release Overview. Retrieved April 4, 2022 from https://www.autosar.org/fileadmin/user_upload/standards/classic/21-11/AUTOSAR_TR_ClassicPlatformReleaseOverview.pdf.Google Scholar
- [5] 2021. AUTOSAR Specification of Operating System Interface. Retrieved April 4, 2022 from https://www.autosar.org/fileadmin/user_upload/standards/adaptive/21-11/AUTOSAR_SWS_OperatingSystemInterface.pdf.Google Scholar
- [6] 2021. Infineon AURIX 32-bit multi core TriCore. Retrieved April 4, 2022 from https://www.infineon.com/cms/en/product/microcontroller/32-bit-tricore-microcontroller/aurix-safety-joins-performance/.Google Scholar
- [7] . 2021. acA1300-30gm—Basler ace. (August 2021). Retrieved August 22, 2021 from https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace/aca1300-30gm/.Google Scholar
- [8] . 2016. Synthesizing job-level dependencies for automotive multi-rate effect chains. In Proceedings of the 2016 IEEE 22nd International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA). IEEE, 159–169.Google Scholar
Cross Ref
- [9] . 2017. End-to-end timing analysis of cause-effect chains in automotive embedded systems. Journal of Systems Architecture 80 (2017), 104–113. https://www.sciencedirect.com/science/article/pii/S1383762117300681.Google Scholar
Digital Library
- [10] . 2018. Timing analysis driven design-space exploration of cause-effect chains in automotive systems. In Proceedings of the IECON 2018-44th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 4090–4095.Google Scholar
Cross Ref
- [11] . 2005. Measuring the performance of schedulability tests. Real-Time Systems 30, 1-2 (2005), 129–154.Google Scholar
Digital Library
- [12] . 2019. Continental Vehicle Server Connects VW ID. Electric Vehicles. Retrieved September 20, 2021 from https://www.continental.com/en/press/press-releases/2019-11-12-icas-vw/.Google Scholar
- [13] . 2012. Compositional performance analysis in python with pycpa. Proc. of WATERS (2012), 46.Google Scholar
- [14] . 2019. End-to-end timing analysis of sporadic cause-effect chains in distributed systems. ACM Transactions on Embedded Computing Systems (TECS) 18, 5s (2019), 58.Google Scholar
Digital Library
- [15] . 2010. Techniques for the synthesis of multiprocessor tasksets. In Proceedings of the 1st International Workshop on Analysis Tools and Methodologies for Embedded and Real-Time Systems (WATERS). 6–11.Google Scholar
- [16] . 2009. A compositional framework for end-to-end path delay calculation of automotive systems under different path semantics. In Proceedings of the IEEE Real-Time Systems Symposium: 30/11/2009-03/12/2009. IEEE Communications Society.Google Scholar
- [17] . 2010. Scheduling dependent periodic tasks without synchronization mechanisms. In Proceedings of the 16th Real-Time and Embedded Technology and Applications Symposium (RTAS). IEEE, 301–310.Google Scholar
Digital Library
- [18] . 2010. A real-time architecture design language for multi-rate embedded control systems. In Proceedings of the ACM Symposium on Applied Computing. ACM, 527–534.Google Scholar
Digital Library
- [19] . 2020. A platform programming paradigm for heterogeneous systems integration. Proceedings of the IEEE 109, 4 (2020), 582–603.Google Scholar
Cross Ref
- [20] . 2021. System-level logical execution time: Augmenting the logical execution time paradigm for distributed real-time automotive software. ACM Transactions on Cyber-Physical Systems 5, 2 (2021), 1–27.Google Scholar
Digital Library
- [21] . 2018. Improving and estimating the precision of bounds on the worst-case latency of task chains. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 37, 11 (2018), 2578–2589.Google Scholar
Cross Ref
- [22] . 2019. Renesas advanced automotive SoC adopted by Continental for its body high-performance computer. (September 2021). Retrieved September 20, 2021 from https://www.greencarcongress.com/2020/07/20200708-renesas.html.Google Scholar
- [23] . 2008. Exploring network structure, dynamics, and function using NetworkX. In Proceedings of the 7th Python in Science Conference. Pasadena, CA, 11–15.Google Scholar
- [24] . 2005. System level performance analysis–the SymTA/S approach. IEEE Proceedings-Computers and Digital Techniques 152, 2 (2005), 148–166.Google Scholar
Cross Ref
- [25] . 2016. Towards parallelizing legacy embedded control software using the LET programming paradigm. In Proceedings of the 2016 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS). IEEE, 1–1.Google Scholar
Cross Ref
- [26] . 2003. Giotto: A time-triggered language for embedded programming. Proceedings of the IEEE 91, 1 (2003), 84–99.Google Scholar
Digital Library
- [27] . 2012. The logical execution time paradigm. In Proceedings of the Advances in Real-Time Systems. Springer, 103–120.Google Scholar
Cross Ref
- [28] . 2020. Evaluation of the age latency of a real-time communicating system using the LET paradigm. In Proceedings of the ECRTS 2020, Vol. 165. Schloss Dagstuhl–Leibniz-Zentrum fuer Informatik.Google Scholar
- [29] . 2015. Real world automotive benchmarks for free. In Proceedings of the 6th International Workshop on Analysis Tools and Methodologies for Embedded and Real-Time Systems (WATERS).Google Scholar
- [30] . 2001. Network Calculus: A Theory of Deterministic Queuing Systems for the Internet, Vol. 2050. Springer Science & Business Media.Google Scholar
Digital Library
- [31] . 2018. Analytical characterization of end-to-end communication delays with logical execution time. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 37, 11 (2018), 2244–2254.Google Scholar
Cross Ref
- [32] . 2017. Entwicklung von hochautomatisierten Fahrfunktionen durch flexibles Software-Framework. ATZExtra 22, 18 (
July 2017), 18–21.DOI: Google ScholarCross Ref
- [33] . 2011. Multi-task implementation of multi-periodic synchronous programs. Discrete Event Dynamic Systems 21, 3 (2011), 307–338.Google Scholar
Digital Library
- [34] . 2015. Off-line mapping of multi-rate dependent task sets to many-core platforms. Real-Time Systems 51, 5 (2015), 526–565.Google Scholar
Digital Library
- [35] . 2010. Schedulability and end-to-end latency in distributed ecu networks: Formal modeling and precise estimation. In Proceedings of the 10th ACM International Conference on Embedded Software. 129–138.Google Scholar
Digital Library
- [36] . 2021. R-Car H3e/H3e-2G High-end Automotive System-on-Chip (SoC) for In-vehicle Infotainment and Integrated Cockpit. (August 2021). Retrieved August 22, 2021 from https://www.renesas.com/us/en/products/automotive-products/automotive-system-chips-socs/r-car-h3e-r-car-h3e-h3e-2g-high-end-automotive-system-chip-soc-vehicle-infotainment-and-integrated-cockpit.Google Scholar
- [37] . 2016. Response-time analysis for task chains in communicating threads. In Proceedings of the 2016 IEEE Real-Time and Embedded Technology and App. Symposium (RTAS). IEEE, 1–10.Google Scholar
Cross Ref
- [38] . 2018. Data-age analysis and optimisation for cause-effect chains in automotive control systems. In Proceedings of the 2018 IEEE 13th International Symposium on Industrial Embedded Systems (SIES). IEEE, 1–9.Google Scholar
Cross Ref
Index Terms
Robust Cause-Effect Chains with Bounded Execution Time and System-Level Logical Execution Time
Recommendations
Compositional Timing Analysis of Asynchronized Distributed Cause-effect Chains
Real-time systems require the formal guarantee of timing constraints, not only for the individual tasks but also for the end-to-end latency of data flows. The data flow among multiple tasks, e.g., from sensors to actuators, is described by a cause-effect ...
Robust Optimization on Across-Chain Inventory Control of Cluster Supply Chains
CSE '09: Proceedings of the 2009 International Conference on Computational Science and Engineering - Volume 01On basis of cluster supply chain with two four-echelon single supply chains, cross-chain inventory coordination between two retailers is taken into account on condition of the two supply chains co-petition. The time-varying robust control system model ...
Research on the Robustness of the Complex Supply Chain Network
ICDMA '12: Proceedings of the 2012 Third International Conference on Digital Manufacturing & AutomationSupply chain is a network composes by business entities with different function. The robustness of supply chain determines the stability of a network. In this paper, based on the supply chain character, we propose a complex supply chain network. Then, ...






Comments