Automotive Gateways. Bridge & Gateway from FlexRay/CAN/LIN to AVB Networks.

Transcription

1 Automotive Gateways Bridge & Gateway from FlexRay/CAN/LIN to AVB Networks 1

2 Content Gateways in current/future architectures Main GW functions (Routing, Diagnostic, ) Main principles of GW s functionality (SW aspects, protocol aspects, AUTOSAR aspects) LIN/CAN/FlexRay 2 Ethernet transport mechanisms (1722a) GW performance aspects Ethernet GW/Switch in future EE architectures

3 Gateways in current/future architectures 3

4 Transition from Central Gateway to Backbone Arch CAN (FD) LIN CGW FlexRay MOST Today CGW DCU SW Ethernet Central Gateway Domain Control Unit Switch CGW SW SW SW Mid-term DCU DCU DCU SW SW Long-term

5 Characteristics of different GW types* Central GW Local GW Domain GW GW with integrated Switch No. of interfaces any no. of LIN/CAN/FR 1 x domain bus itf. n x subdomain bus itfs. 1 x domain bus itf. 1-2 x backbone itf. any no. of LIN/CAN/FR/Eth No. of GWs per vehicle Diagnostic interface Comments <= 1 x Increasing no. of itfs. >= 0 - >= 0 possible >= 0 possible * From the EE architecture point of view

6 Main GW functions (Routing, Diagnostic, ) 6

7 Routing Features Message Routing Packet Routing Signal Routing (eventually with signal processing) Routing with High Priority Different sorts of rate adaption between received and transmitted message, e.g. Periodic & Immediate Transmit On Change (TOC) New Msg Data SOURCE t tcycle_s DESTINATION TOC Msg Y Routing Diagnostic Routing tcycle_d tgdelay t 7

8 Other Gateway Functions Nominal-actual configuration comparison Diagnostic tester CAN and Ethernet interface provided Flash function Components Configuration ECU_4 ECU_3 ECU_2 ECU_1 Nominal Actual Message mirroring on diagnostic bus Network management OEM specific features 8

9 Main principles of GW s functionality (SW aspects, protocol aspects, AUTOSAR aspects) 9

10 Input Queues Output Queues State of the Art: Software Gateway in Central Processing Unit (CPU) Application Software Application Security Software Signal Gateway SDU Gateway Tunnel Gateway Transport L3/4 CPU (Software) CPU Bus Memory Security (Hardware) Signal Gateway SDU Gateway I-PDUs queue schedule CC CC 1..n 1..n ECU Bus/Interfaces NIC Transpor t Ethernet L2 MAC Bridge MACSec Security Automotive Ethernet De-capsulation, Encapsulation RBUF PDUs TBUF bus schedule CPU Software CC CC Hardware Hardware ECU Bus Source: ETAS

11 Gateway Protocol Stack Overview Sensor/Actuato r APP Signal IL TP CAN CAN Gateway APP Signal IL TP FLX SIGNAL GW SDU GW L3TP GW APP Signal IL TP FLX Phy ECU Actuator/Senso r APP Phy Phy Phy Phy CAN Bus external cabling domain FlexRay Bus Discrete Sensor Gateway Actuator Actuator Senso r ECU ECU 11 Actuator CAN Bus Sensor FlexRay Bus Notes: IL = Interaction Layer according OSEK Comms 3.03 and AUTOSAR; adopts messages/signals to PDUs Source: ETAS

12 AUTOSAR Aspects App 1 App n Signal Process Signal GW Frame GW Internet Protocol Message Routing performed in the PDU Router Signal Routing performed in AUTOSAR COM Signal Processing performed in Apps 12

13 LIN/CAN/FlexRay 2 Ethernet transport mechanisms (1722a)

14 Gateway Protocol Stack with 1722 Tunneling Sensor Gateway ECU/Gateway Sensor Signal CAN Phy CAN Phy APP Signal IL IL IL TP TP TP CAN Bus CAN* P Q x MAC PHY SIGNAL GW SDU GW L3TP GW TUNNEL GW internal external cabling domain Ethernet L2TP GW MAC-Relay Q x MAC MAC PHY PHY Ethernet APP Signal CAN* P Q x MAC PHY Gateway Gateway Gateway Actuato Sens r or Sens or ECU Actuato r CAN Bus Actuato r ECU Sens or Sens or Actuato r Actuato r ECU Sens or FlexRay Bus Source: ETAS

15 1722a Ctrl Stream Data Generic Frame Format Ethernet header AVTP control stream data header Packet info LIN/CAN/FR message 1* LIN/CAN/FR message n* * only messages of the same type allowed in one frame

16 1722a FlexRay PDU Format The FlexRay PDU consists of a control stream PDU and one or more FlexRay messages Source: IEEE 1722a/D3

17 1722a CAN PDU Format The CAN extended PDU consists of a control stream PDU and one or more CAN extended messages Source: IEEE 1722a/D3

18 1722a LIN PDU Format The LIN PDU consists of a control stream PDU and one or more LIN messages Source: IEEE 1722a/D3

19 ETAS Contribution to IEEE 1722a LIN/CAN/FR PDU Format Optimized Gateway Messages: The transport PDU consists of a control stream PDU and one or more LIN, CAN, FR messages Source: ETAS

20 GW performance aspects

21 GW performance aspects The routing performance should allow all messages received on several buses with 100% load to be loss-free transmitted on the destination interfaces (which are considered to be in ideal condition) Latency time requirements are strongly OEM specific, e.g.: OEM1: tlatency < 2 ms OEM2: tlatency < 500 µs Toyota s ultra low latency: 100µs over 5 hops, i.e. 20µs/hop GW Network A Msg RC Buffer Msg TX Buffer Msg Network B t network t latency t network t Delay Transmission Delay Operation Delay Transmission Startup time (time needed to start communication)

22 Automotive Gateways Ethernet GW/Switch in future EE architectures

23 Daisy Chain with optional redundant path Ethernet GW/Switch in future EE architectures DCU DCU DCU SW CGW DCU SW CAN (FD) LIN FlexRay Ethernet Central Gateway Domain Control Unit Switch DCU DCU Switched Architecture CGW inspired DCU DCU DCU DCU DCU SW SW Full Meshed redundant Backbone

24 Gateway as possible Time Master TBD hope to get the permission from an OEM to insert a slide Page <#> 24

25 BCMF BCMR TRM GW1 GW2 Gateway as convergence device GW DCUR Converged data SMR Converged data AFS SML GW DCUL Zone oriented architecture makes use of Ethernet backbone (which connects all main areas of the vehicle) Inside the zone CAN/LIN networks Ethernet AVB ensures data type convergence on backbone Legende: GWx XYZ Video camera Gateway + Switch ECU Ethernet CAN (FD)

26 Thank you!