Skip to main content
SpringerLink
Log in

Schedule Optimization for Ttethernet-based Time-triggered Automotive Systems

  • Published:
International Journal of Automotive Technology Aims and scope Submit manuscript

Abstract

TTEthernet is a new high availability network protocol for the automotive domain, providing support for the transmissions of time-critical periodic frames in a time-triggered (TT) traffic and event-triggered frames in a rate-constrained (RC) or best-effort (BE) traffic. The design of a system scheduling with communication over the TTEthernet is not an easy task because of protocol and timing constraints as well as the demand for high quality-of-service and extensibility. In this paper, we study the co-optimization problem of the tasks and signals scheduling for TTEthernet-based time-triggered automotive systems. We propose a Mixed-Integer Linear Programming (MILP) framework for optimizing the signal packing, signal scheduling and task scheduling, subject to all protocol, processor and timing constraints with respect to latency- or extensibility-related metrics. Extensive experiments are conducted to evaluate the effectiveness and efficiency of the proposed approach in a variety of scenarios.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Abbreviations

τ i :

the i-th task

σ i :

the j-th signal

f m :

the m-th frame

l g :

the g-th link resource

λ k :

the k-th application

ρ ε :

the ε-th path

src ρε :

the source task of path ρε

des ρε :

the sink task of path ρε

Γ :

the set of tasks

S :

the set of signals

S g :

the set of signals from PE link resource lg

S g,h :

the set of all branches of the h-th multicast signal of lg

F :

the set of frames

F g :

the set of frames from PE link resource lg

L :

the set of link resources

L p :

the set of PE link resources

L n :

the set of network link resources

FP :

the set of time-sensitive function paths

U :

the derived set from the base sets S and L, where (σj, 1g) ∈ U denotes that the q uses lg

Q :

the derived set from the base sets S and L, where \((\sigma_{{\rm j}},l_{{\rm g}},l_{{\rm g}^{\prime}})\in Q\) denotes that σj uses lg and \(l_{{\rm g}^{\prime}}\) in order

E τi :

the PE that τi needs to execute

C τi :

the execution time of τi

P τi :

the period of task τi

D τi :

the deadline of task τi

T σj :

the PE link resource that sends σj

R σj :

the PE link resource that receives σj

W σj :

the length of σj

P σj :

the period of σj

D σj :

the deadline of σj

T fm :

the PE link resource that sends fm

P fm :

the period of fm

V lg :

the transmission speed of lg

B lg :

the desired size of the idle gap between two consecutive TT frames on lg

D ρε :

the deadline of ρε

W fmax :

the upper limit of frame length

W fmin :

the lower limit of frame length

M :

a large constant for linearization

References

  • Beji, S., Hamadou, S., Gherbi, A. and Mullins, J. (2014). SMT-based cost optimization approach for the integration of avionic functions in IMA and TTEthernet architectures. 2014 IEEE/ACM 18th Int. Symp. Distributed Simulation and Real Time Applications, Toulouse, France, 165–174.

  • Bello, L. L. (2011). The case for ethernet in automotive communications. ACM SIGBED Review 8, 4, 7–15.

    Article  MathSciNet  Google Scholar 

  • Bingqian, L. and Yong, W. (2016). Hybrid-GA based static schedule generation for time-triggered Ethernet. 2016 8th IEEE Int. Conf. Communication Software and Networks, Beijing, China, 423–427.

  • Camek, A., Buckl, C., Correia, S. P. and Knoll, A. (2012). An automotive side-view system based on Ethernet and IP. 2012 26th IEEE Int. Conf. Advanced Information Networking and Applications Workshops, Fukuoka, Japan, 238–243.

  • Craciunas, S. S. and Oliver, R. S. (2014). SMT-based task-and network-level static schedule generation for time-triggered networked systems. Proc. 22nd Int. Conf. Real-time Networks and Systems, Versailles, France, 45–54.

  • Dvořák, J., Heller, M. and Hanzálek, Z. (2017). Makespan minimization of Time-Triggered traffic on a TTEthernet network. 2017 13th IEEE Int. Workshop on Factory Communication Systems (WFCS), Trondheim, Norway, 1–10.

  • IEEE Standard Association. (2012). IEEE Standard for Ethernet. IEEE Std, 802–3.

  • Jakovljevic, M. (2011). Deterministic Ethernet: SAE AS6802” Time-triggered Ethernet. SAE International.

  • Kandasamy, N., Hayes, J. P. and Murray, B. T. (2005). Dependable communication synthesis for distributed embedded systems. Reliability Engineering & System Safety 89, 1, 81–92.

    Article  Google Scholar 

  • Lin, C. W., Zhu, Q., Phung, C. and Sangiovanni-Vincentelli, A. (2013). Security-aware mapping for CAN-based real-time distributed automotive systems. IEEE/ACMInt. Conf. Computer-Aided Design (ICCAD), San Jose, CA, USA, 115–121.

  • Mueller, K., Steinbach, T., Korf, F. and Schmidt, T. C. (2011). A real-time Ethernet prototype platform for automotive applications. 2011 Proc. IEEE Int. Conf. Consumer Electronics-Berlin (ICCE-Berlin), Berlin, Germany, 221–225.

  • Network, A. D. (2009). Part 7: Avionics full duplex switched Ethernet (afdx) network. Standard ARINC, 664, P7.

    Google Scholar 

  • Pop, T., Pop, P., Eles, P. and Peng, Z. B. (2008). Analysis and optimisation of hierarchically scheduled multiprocessor embedded systems. Int. J. Parallel Programming 36, 1, 37–67.

    Article  MATH  Google Scholar 

  • Sagstetter, F., Lukasiewycz, M. and Chakraborty, S. (2017). Generalized asynchronous time-triggered scheduling for FlexRay. IEEE Trans. Computer-Aided Design of Integrated Circuits and Systems 36, 2, 214–226.

    Article  Google Scholar 

  • Steinbach, T., Korf, F. and Schmidt, T. C. (2011). Real-time Ethernet for automotive applications: A Solution for future in-car networks. 2011 IEEE Int. Conf. Consumer Electronics-Berlin (ICCE-Berlin), Berlin, Germany, 216–220.

  • Steinbach, T., Lim, H. T., Korf, F., Schmidt, T. C., Herrscher, D. and Wolisz, A. (2012). Tomorrow’s in-car interconnect? A competitive evaluation of IEEE 802.1 AVB and Time-Triggered Ethernet (AS6802). 2012 Proc. IEEE Vehicular Technology Conf. (VTC Fall), Quebec City, QC, Canada, 1–5.

  • Steiner, W. (2010). An evaluation of SMT-based schedule synthesis for time-triggered multi-hop networks. 2010 31st IEEE Real-Time Systems Symp., San Diego, CA, USA, 375–384.

  • Steiner, W. (2011). Synthesis of static communication schedules for mixed-criticality systems. 2011 14th IEEE Int. Symp. Object/Component/Service-Oriented Real-Time Distributed Computing Workshops, Newport Beach, CA, USA, 11–18.

  • Suethanuwong, E. (2012). Scheduling time-triggered traffic in TTEthernet systems. 2012 IEEE 17th Int. Conf. Emerging Technologies & Factory Automation (ETFA), Krakow, Poland, 1–4.

  • Tamas-Selicean, D., Pop, P. and Steiner, W. (2012). Synthesis of communication schedules for TTEthernet-based mixed-criticality systems. Proc. 8th Int. Conf. Hardware/software codesign and system synthesis, Tampere, Finland, 473–482.

  • Tamas-Selicean, D., Pop, P. and Steiner, W. (2015). Design optimization of TTEthernet-based distributed real-time systems. Real-Time Systems 51, 1, 1–35.

    Article  Google Scholar 

  • Tindell, K. W., Hansson, H., and Wellings, A. J. (1994). Analysing real-time communications: controller area network (CAN). Proc. Real Time Syst. Symp. (RTSS), 259–263.

  • Tuoby, S., Glavin, M., Hughes, C., Jones, E., Trivedi, M. and Kilmartin, L. (2015). Intra-vehicle networks: A Review. IEEE Trans. Intelligent Transportation Systems 16, 2, 534–545.

    Article  Google Scholar 

  • Xu, C., Zhang, L., Ling, Z., Xu, M. and Wang, D. D. (2017). TTEthernet for launch vehicle communication network. 2017 IEEE 29th Chinese Control And Decision Conf. (CCDC), Chongqing, China, 5159–5163.

  • Zhang, L. C., Goswami, D., Schneider, R. and Chakraborty, S. (2014). Task- and network-level schedule co-synthesis of Ethernet-based time-triggered systems. 2014 19th Asia and South Pacific Design Automation Conf. (ASP-DAC), Singapore, Singapore, 119–124.

  • Zhao, R., Qin, G. H. and Liu, J. Q. (2016). Optimal scheduling of the FlexRay static segment based on two-dimensional bin-packing algorithm. Int. J. Automotive Technology 17, 4, 703–715.

    Article  Google Scholar 

Download references

Acknowledgement

This work was supported by the Jilin Science and Technology Key Project Grant [grant number 20150204034GX].

Author information

Authors and Affiliations

  1. School of Automotive Engineering, Jilin University, Changchun, 130000, China

    Rui Zhao

  2. School of Computer Science and Technology, Jilin University, Changchun, 130000, China

    Guihe Qin, Jie Yan & Jun Qin

Authors
  1. Rui Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Guihe Qin
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jie Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jun Qin
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jie Yan.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhao, R., Qin, G., Yan, J. et al. Schedule Optimization for Ttethernet-based Time-triggered Automotive Systems. Int.J Automot. Technol. 21, 1483–1494 (2020). https://doi.org/10.1007/s12239-020-0140-6

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12239-020-0140-6

Key Words

Search

Navigation