面向智能汽车的Ethernet AVB网络设计与优化
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摘要
为确保车载Ethernet AVB网络的传输实时性,在分析智能汽车网络拓扑结构和消息特性基础上,引入预定流量类型,给出面向音视频流和实时控制类消息流混合传输的时间感知整形调度机制;推导出该机制下流预留(SR)类消息的最坏响应时间计算式;给出IEEE标准预留带宽参数配置方法导致网络不可调度的证明,并以超预留带宽最小为目标,以IEEE标准规定的最大预留带宽和SR类消息响应时间为约束,提出Ethernet AVB网络超预留带宽优化设计模型,给出求解该模型的OAPO和OBPO算法。在Vector CANoe中的试验结果表明:与IEEE标准中配置方法相比,所提出的方法不仅可以确保Ethernet AVB网络中各类消息传输的实时性,而且还能使网络预留带宽达到最优,进而更好地满足智能汽车网络高速实时的通信要求。
To guarantee the real-time transmission of Ethernet AVB network, the scheduled traffic stream is introduced based on the analysis of the topology and message characteristics of intelligent vehicle network, and a time-aware shaper(TAS) for mixed transmission of audio/video and control message stream is presented. The calculation formula of worst response time is deduced for the stream reservation message under the TAS. The non-schedulable cases resulting from the reserved bandwidth configuration method in the IEEE standard are analyzed. Then, the reserved bandwidth configuration is formulated as a generalized optimization problem which strives to minimize the over-reservation bandwidth under the constraints on maximum reservation bandwidth specified in IEEE standard and response time of SR message. To solve the model, the algorithms called as OAPO and OBPO are also proposed.The final experimental results in Vector CANoe show that compared with IEEE configuration method, for the Ethernet AVB network,the proposed method can not only ensure the real-time of all messages, but also achieve the optimal reserved bandwidth. Therefore, it can meet the high-speed and real-time communication requirements of intelligent vehicles better.
To guarantee the real-time transmission of Ethernet AVB network, the scheduled traffic stream is introduced based on the analysis of the topology and message characteristics of intelligent vehicle network, and a time-aware shaper(TAS) for mixed transmission of audio/video and control message stream is presented. The calculation formula of worst response time is deduced for the stream reservation message under the TAS. The non-schedulable cases resulting from the reserved bandwidth configuration method in the IEEE standard are analyzed. Then, the reserved bandwidth configuration is formulated as a generalized optimization problem which strives to minimize the over-reservation bandwidth under the constraints on maximum reservation bandwidth specified in IEEE standard and response time of SR message. To solve the model, the algorithms called as OAPO and OBPO are also proposed.The final experimental results in Vector CANoe show that compared with IEEE configuration method, for the Ethernet AVB network,the proposed method can not only ensure the real-time of all messages, but also achieve the optimal reserved bandwidth. Therefore, it can meet the high-speed and real-time communication requirements of intelligent vehicles better.
引文
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[23]SHORT M,ABUGCHEM F,DAWOOD M.Tunneling horizontal IEC 61850 traffic through audio video bridging streams for flexible microgrid control and protection[J].Energies,2016,9(3):204.
[24]LEE H,LEE J,PARK C,et al.Time-aware preemption to enhance the performance of audio/video bridging(AVB)in IEEE 802.1 TSN[C]//International Conference on Computer Communication and the Internet,October13-15,2016,Wuhan,China:IEEE,2016:80-84.
[2]李进,刘洋洋,胡金芳.人机协同下辅助驾驶系统的车道保持控制[J].机械工程学报,2018,54(2):169-175.LI Jin,LIU Yangyang,HU Jinfang.Lane tracking of driver assistance system with man-machine-coordination.Journal of Mechanical Engineering[J],2018,54(2):169-175.
[3]YAN Xinwei,ZHOU Kui,ZHU Zhengzhe,et al.The summary of automotive real-time ethernet technology development[J].Software Guide,2018(1):46-53.
[4]IEEE(2014)IEEE Std.802.1Q,IEEE standard for local and metropolitan area networks,bridges and bridged networks[S].
[5]BORDOLOI U D,AMINIFAR A,ELES P,et al.Schedulability analysis of Ethernet AVB switches[C]//International Conference on Embedded and Real-Time Computing Systems and Applications,August 20-22,2014,Chongqing,China:IEEE,2014:1-10.
[6]CAO J,CUIJPERS P J L,BRIL R J,et al.Tight worst-case response-time analysis for ethernet AVB using eligible intervals[C]//2016 World Conference on Factory Communication Systems(WFCS),May 3-6,2016,Aveiro,Portugal:IEEE,2016:1-8.
[7]CAO J,CUIJPERS P J L,BRIL R J,et al.Independent yet Tight WCRT Analysis for Individual Priority Classes in Ethernet AVB[C]//International Conference on Real-Time Networks and Systems,September 19-23,2016,Brest,French:ACM,2016:55-64.
[8]DIEMER J,THIELE D,ERNST R.Formal worst-case timing analysis of Ethernet topologies with strict-priority and AVB switching[C]//International Symposium on Industrial Embedded Systems,June 20-22,2012,Karlsruhe,Germany:IEEE,2012:1-10.
[9]LI X,GEORGE L.Deterministic delay analysis of AVBswitched Ethernet networks using an extended trajectory approach[J].Real-Time Systems,2018,53(1):1-66.
[10]MIGGE J,VILLANUEVA J,NAVET N,et al.Insights on the Performance and Configuration of AVB and TSN in Automotive Ethernet Networks[C]//European Congress on Embedded Real Time Software and Systems,March25-29,2018,Toulouse,France:European Congress,2018:1-10.
[11]SMIRNOV F,GLA?M,REIMANN F,et al.Formal timing analysis of non-scheduled traffic in automotive scheduled TSN networks[C]//Design,Automation&Test in Europe Conference&Exhibition,March 27-31,2017,Lausanne,Switzerland:IEEE,2017:1647-1650.
[12]MAXIM D,SONG Y Q.Delay analysis of AVB traffic in time-sensitive Networks(TSN)[C]//International Conference on Real-Time Networks and Systems,October 4-6,2017,Grenoble,France:ACM,2017:18-27.
[13]SEO J H,JEON J W.Comparison of IEEE802.1Q and IEEE802.1 AVB in multi switch environment in embedded system[C]//International Conference on Control,Automation and Systems,October 18-23,2017,Jeju,South Korea:ICCAS,2017:489-493.
[14]DIARRA A,HOGENMUELLER T,ZIMMERMANN A,et al.Improved clock synchronization start-up time for Ethernet AVB-based in-vehicle networks[C]//Emerging Technologies&Factory Automation,September 8-11,2015,Luxembourg:IEEE,2015:1-8.
[15]DIARRA A,ZIMMERMANN A.System design issues for future in-vehicle Ethernet-based time-and safety-critical networks[C]//Systems Conference,April13-16,2015,Vancouver BC,Canada:IEEE,2015:61-68.
[16]HERBER C,RICHTER A,WILD T,et al.Real-time capable CAN to AVB ethernet gateway using frame aggregation and scheduling[C]//Design,Automation&Test in Europe Conference&Exhibition,March 9-13,2015,Grenoble,France:IEEE,2015:61-66.
[17]ASHJAEI M,PATTI G,BEHNAM M,et al.Schedulability analysis of Ethernet Audio Video Bridging networks with scheduled traffic support[J].Real-Time Systems,2017,53(4):526-577.
[18]VERDUZCO H I R,CUIJPERS P J,CAO J.Work-in-progress:Best-case response time analysis for Ethernet AVB[C]//Real-Time Systems Symposium(RTSS),December 5-8,2017,Paris,France:IEEE,2018:378-380.
[19]PARK J D,CHEOUN B M,JEON J W.Worst-case analysis of ethernet AVB in automotive system[C]//International Conference on Information and Automation,August 8-10,2015,Lijiang,China:IEEE,2015:1696-1699.
[20]ALDERISI G,PATTI G,BELLO L L.Introducing support for scheduled traffic over IEEE audio video bridging networks[C]//Conference on Emerging Technologies&Factory Automation,September 10-13,2013,Cagliari,Italy:IEEE,2013:1-9.
[21]THANGAMUTHU S S,CONCER N N,CUIJPERS P P,et al.Analysis of ethernet-switch traffic shapers for in-vehicle networking applications[J].Science,2015,332(6025):7-36.
[22]SHAO L,CHEN C,WANG Q.A new method for multi-channel audio transmission based on AVBstandard[C]//International Conference on Mechatronics and Industrial Informatics,May 13-16,2015,Atlantis,Press:International Conference,2015:10-25.
[23]SHORT M,ABUGCHEM F,DAWOOD M.Tunneling horizontal IEC 61850 traffic through audio video bridging streams for flexible microgrid control and protection[J].Energies,2016,9(3):204.
[24]LEE H,LEE J,PARK C,et al.Time-aware preemption to enhance the performance of audio/video bridging(AVB)in IEEE 802.1 TSN[C]//International Conference on Computer Communication and the Internet,October13-15,2016,Wuhan,China:IEEE,2016:80-84.