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Schedule Integration for Time-Triggered Systems

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Page 1: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Schedule Integration for Time-Triggered Systems

Page 2: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Motivation • Automotive software

• Automotive architectures

• Integration Challenge

Time-triggered automotive systems • Sychronization

• Schedule Integration

• FlexRay

ILP scheduling approach

Case study & Scalability

Conclusion

2

Outline

Page 3: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 3

Example: Adaptive Cruise Control

(AUDI AG, ACC)

Page 4: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 4

Distributed Control System

Radar

ACC ECU

Actuator System Sensor

Controller Network Network

Speed Adjustment

Page 5: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 5

Delay Requirements

ts Sensor

Network m1

tc

m2

ta

Controller

Network

Actuator

τnetwork τnetwork

τcontrol

Page 6: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Increasing Complexity in Automotive Electronics

Florian Sagstetter 6

1 3 13

90 100

175

240

5 50

100

0

50

100

150

200

250

300

350

400

Memory [MB] ECUs

Sources:

Paul Milbredt, AUDI AG, EFTA 2010 - Switched FlexRay: Increasing the Effective Bandwidth and Safety of FlexRay Networks

BMW Group, FTF 2010 Orlando - Energy Saving Strategies in Future Automotive E/E Architectures

Page 7: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 7

Integration Challenge

Application:

Sender

Bus

Receiver

Implementation:

Mapping, Configuration

and Schedule

Integration:

Defined by:

• Message

• Timing

• Deadline

Page 8: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 8

Source: The Software Car: Information and Communication Technology (ICT) as an Engine for the Electromobility of the Future – ForTISS GmbH

Rising Gap between Required and Actual System Complexity

INTEGRATION

CHALLENGE ?

TODAY:

Page 9: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 9

Paradigm Shift

Event-triggered systems

Time-triggered systems

utilization flexibility

(real-time properties need to be verified)

predictability

(real-time properties are guaranteed)

Ethernet (PTP)

Page 10: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 10

Introduction: Asynchronous vs. Synchronous

task 1

task 2

bus x x

time

task 1

task 2

bus

Jitter, lost/unused data

Synchronous

Asynchronous

Page 11: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 11

Vision: Holistic Scheduling for Time Triggered Systems

Sender

Bus

Receiver Gate-way

Ethernet PTP

(Backbone)

Task level

Communication

Bus controller

Sender

Bus

Receiver

Sender

Bus

Receiver

TT-

Page 12: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 12

Related Work: Global Scheduling

• Schedule Optimization of Time-Triggered Systems Communicating Over the

FlexRay Static Segment

H. Zeng, M. Di Natale, A. Ghosal, and A. Sangiovanni-Vincentelli.

IEEE Transactions on Industrial Informatics, 7(1):1–17, 2011.

• Modular Scheduling of Distributed Hetero-geneous Time-Triggered Automotive Systems. M. Lukasiewycz, R. Schneider, D. Goswami, and S. Chakraborty. In Proceedings of ASPDAC 2012, pages 665–670, 2012.

Page 13: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Schedule Integration approach

Florian Sagstetter 13

Integration:

Sender

Bus

Receiver

Sender

Bus

Receiver

Sender

Bus

Receiver

Cluster Schedules:

Sender

Bus

Receiver

Page 14: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 14

Degrees of Freedom

Sender

Bus

Receiver

Sender

Bus

Receiver

Sender

Bus

Receiver

Schedules:

Sender

Bus

Receiver

Global Schedule:

x x

Page 15: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 15

Introduction to FlexRay

2000

Foundation of FlexRay

Consortium (more than 100 members by 2005)

Presentation: “FlexRay – Past Present

Future Perfect” - Christopher Temple

2005

2.1

3.0

Release of version 2.1,

the current industry

standard

2006

Used in active damping

system of BMW X5

BMW 7-series

Fully introduced with

BMW 7 series

2008 2010

Release of version 3.0,

Disbandment of

consortium

future

ISO standard

in preparation

Page 16: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 16

FlexRay Protocol (Static Segment)

CC0 (Communication Cycle) CC1 CCC …

Static Segment Dynamic Segment

Symbol Window

Network Idle Time

Static Slot 1

Static Slot 2

Static Slot n

…

Page 17: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Schedule Integration for FlexRay

Florian Sagstetter 17

… CCC CC0

Static Segment

CC1

Static Segment

CC2

Static Segment

CC3

Static Segment

x+1 x x+2 x+1 x x+2 x+1 x x+2 x+1 x x+2

Page 18: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

ILP-based Schedule Integration Approach

Florian Sagstetter 18

Search Space Reduction: Cycle Breaking: Filter Offsets:

Only occupy static FlexRay segment

Each static slot is only occupied once

Page 19: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Case Study

Florian Sagstetter 19

cluster ECUs frames repetition variance

body 2 9 2,4 3-217

chassis 3 12 2,4 0-85

information 2 11 4,8 9-278

electric 3 10 1,2 0-55

total 10 42 1,2,4,8 0-278

• Utilization of FlexRay bus: 29%

• Feasible schedule for FlexRay 2.1 in 163ms

(Xeon 3.2GHz Quadcore,12GB RAM)

• ILP formulation of 5207 variables and 146926 constraints

• Feasible schedule for FlexRay 3.0 in 208ms

• ILP formulation of 14895 variables and 1070730 constraints

Page 20: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Scalability Analysis with 5400 Synthetic Test Cases

Florian Sagstetter 20

Page 21: Schedule Integration for Time-Triggered Systems Integration approach Florian Sagstetter 13 Integration: Sender Bus Receiver Sender Bus Receiver Sender Bus Receiver Cluster Schedules:

Florian Sagstetter 21

Conclusion

• Automotive functions benefit from a synchronous schedule

• Concurrent scheduling of ECUs and buses necessary

• Concurrent scheduling allows reduction of integration

efforts

• ILP based scheduling


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