新一代汽车电子系统的网络体系结构若干关键技术研究
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摘要
汽车电子系统是汽车工业竞争力和创新的主要动力,是用来开发新车型、改进汽车性能最重要的手段。近些年来人们在经济和社会方面对汽车提出的越来越高的要求使得它从一个封闭的、弱耦合的系统发展成为一个高度开放的、高度网络化的、极其异构的和强耦合的新一代汽车电子系统。但是系统复杂性的急剧增长给新一代汽车电子系统的设计提出了巨大挑战,如何保证系统能满足实时性、可靠性要求和高效地实现,从而保障系统的安全可靠运行和降低系统设计成本已成为汽车工业界重点关注的关键问题。
网络是实现车内ECU(Electronic Control Unit)之间的交互和协作、以及系统反馈控制的基础。伴随着系统的复杂化发展,新一代汽车电子系统的网络体系结构呈现出复杂化、异构化和层次化等特点,并已成为系统复杂性的主要来源。同时考虑到新一代汽车电子系统的CPS(Cyber-Physical System)本质,网络被提升到与计算和控制同等重要的地位,本文提出以ACPS(Automotive Cyber-Physical System)的观点来指导新一代汽车电子系统的设计,重点关注它的网络体系结构设计在实时性、可扩展性方面存在的问题,以在与汽车驾驶和行车安全相关的关键性功能子系统中进行应用的CAN和FlexRay这两种主要的实时网络技术作为研究对象,从消息调度问题入手在系统可调度性分析和优化与系统资源利用率优化两个方面提出一些相应的优化设计算法,以汽车电子系统的安全可靠运行保障和资源高效实现作为主要目标,从而来缓解新一代汽车电子系统因复杂性骤增而在设计方面面临的严峻挑战。
针对上述问题,本文做了以下几个方面的工作：
(1)网关互连的CAN网络是新一代汽车电子系统的网络体系结构的关键组成部分,同时也是其层次化特点的重要体现,但是现有CAN消息调度分析的相关研究仅局限于单个CAN网络的情况。针对该问题,本文提出了可对网关互连的同构CAN网络中的消息进行调度分析的算法。该算法以面向单个CAN网络的消息调度分析算法为基础,结合提出的“忙到达序列”和“最小时间间隔”概念和消息到达顺序搜索算法可实现非网关类型消息的调度分析。对于需要先后在两个CAN网络中进行调度的网关类型消息而言,本文采取“先分解后转化”的方法将其调度分析转化为与非网关类型消息的调度分析相同的情况进行处理。分别通过理论证明、在仿真消息集与汽车厂商提供的真实消息集的基础上开展的实验对比对提出的消息调度分析算法的安全性和有效性进行了验证。
(2)异构性是新一代汽车电子系统的网络体系结构的主要特点,它不仅体现在网络类型的异构方面如网关互连的CAN和FlexRay,还体现在网关互连的不同CAN网络具有异构带宽方面,如在宝马7系中存在基于网关互连的高速CAN和低速CAN的情况。为了支持异构CAN网络的集成和保障基于网关互连异构CAN网络进行通信的汽车电子功能的安全可靠运行,本文以研究内容一中提出的面向网关互连同构CAN网络的消息调度分析算法为基础,主要就网络带宽异构给消息执行时间和消息的抢占时延分析造成的影响进行相应扩展,从而可实现网关互连异构CAN网络中的消息调度分析。在汽车厂商提供的真实消息集的基础之上进行的实验分析验证了本文提出的算法的有效性。
(3)针对FlexRay因采用可扩展性差的静态配置设计方法而不能满足新一代汽车电子系统的网络体系结构在可扩展性方面需求的问题,本文提出了一种面向FlexRay静态段消息调度的可扩展性优化算法,以兼容信号长度的增长作为优化目标。该算法以FlexRay静态段消息调度的可扩展性需求分析为基础,首先提出了一个不确定性模型来对信号长度的增长进行形式化描述,并对可扩展性、可扩展性策略和可扩展性评估指标进行了定义。然后,提出了两个分别适用于不同规模信号集的基本消息调度算法来完成信号打包任务,在此基础之上分别利用评估步骤和启发式信号交换步骤对已分配时隙中剩余的时间间隙的分布进行优化调整来实现对信号长度增长的兼容。分别在仿真信号集和汽车厂商提供的真实信号集的基础之上与其它可扩展性优化算法进行的对比分析验证了本文提出的算法在优化时隙成本和修改成本方面的有效性。
(4)针对新一代汽车电子系统的网络体系结构在实时性优化方面的需求,以及FlexRay因其时间触发特性而在网络参数配置的复杂性和需要对计算系统与网络系统进行集成设计方面遇到的问题,本文从系统级的角度出发提出了一个可对时隙分配进行优化配置以实现功能级实时性优化的调度优化算法。该算法从集成计算系统和网络系统设计的CPS观点出发提出了一个可对任务和信号之间的同步关系进行形式化建模的调度单元模型,并借助调度分析理论对调度单元的可行时隙进行了分析和界定,进而可获得各个ECU的可行时隙集。然后,根据ECU在分配各个可行时隙时它包含的所有调度单元的平均最差反应时间建立一个二维时延表,在此基础之上利用最优的分支界定算法可在上述时延表中搜索到使得系统功能级的端到端最差反应时间之和最小的时隙分配方案。首先证明了在给定假设前提条件下本文提出的时隙分配算法可实现系统功能包含的所有执行路径的端到端最差反应时间之和的最小化,然后在仿真实验集和汽车厂商提供的真实实验集的基础之上,通过与其它时隙分配算法进行的对比分析进一步验证了所提出的时隙分配算法在优化功能级实时性方面的有效性。
Automotive electronic system has become the main driving force of innovation and competition for car industry, and it is also one of the most important approaches for developing new car models and improving a car's performance. In recent years, the stricter economic and societal requirements that are put forward on car make it develop from a close and weakly coupled system to an open, highly networked, extremely heterogeneous and strongly coupled new generation of automotive electronic system. But the rapid increasing complexity brings big challenges for the design of the new generation of automotive electronic system, therefore how to gurantee that the system can meet the requirements from the real-time and reliability and can be implemented efficiently, and then keep the safe and reliable operation and decrease the system's development cost has attracted much attention from the car industry.
Network is the basis to realize the interaction and cooperation among the ECUs and the feedback control within the car. Along with the complicating of the new generation of automotive electronic system, its network architecture that shows the nature of complexity, heterogeneity and hierarchy becomes the main source of system's complexity. And also considering the fact that the new generation of automotive electronic system is a cyber-physical system in essence, network is promoted to the same status with that of computation and control, this paper proposes to design the new generation of automotive electronic system with Automotive CPS's point of view. It means that the main focus should be given to the problems existing in the design of the network architecture, which are related with the real-time performance and extensibility. CAN and FleRay, which are the two most important real-time networks that are employed in the critical subsystems relating to the driving and traffic safey of the car, are chosen as the research object, and beginning from the message scheduling problem, some optimization algorithms are proposed to realize the message's schedulability analysis and schedule optimization, and optimization on system's resource utilization. The target is to gurantee the safe and reliable operation and the resource-efficient implementation of the automotive electronic system, so that the challenges that are caused by system's complexity can be relieved to some extent for the new generation of automotive electronic system.
Based on the problems that are mentioned above, this research is mainly focused on the following aspects:
1. Gateway-interconnected CANs is a key component of the network architecture for the new generation of automotive electronic system, and it is also an important manifestation of its characteristics of hierarchy. But the current research about the CAN message's schedulability analysis is restricted to the case of the single CAN, therefore this research proposes a safe schedulability analysis algorithm for messages that are transferred on the gateway-interconnected homogeneous CANs. The proposed algorithm is based on the schedulability analysis algorithm raised for messages in single CAN, and combining two new concepts that are "Busy Sequence" and "The Minimum Distance Constraint" with the proposed two arriving order searching algorithms, WCRT of the non-gateway type messages can be analyzed. For gateway type messages that need to be scheduled in two CANs successively, this research takes a "first divide and then transform" approach to transform their schedulability problem into the same situation with that of non-gateway type messages. Through the theory proving and the comparison analyses based on the simulated message set and the real message set provided by automobile company, it verified the safety and the effectivess of the proposed algorithm.
2. Heterogeneity is a main feature for the network architecture of the next generation of automotive electronic system, and it is not only reflected in the employed different kinds of networks such as CAN and FlexRay, but also in the gateway-interconnected CANs with different bandwidths. For example, there is gateway-interconnected high-speed CAN and low-speed CAN in BMW7. To support the integration of heterogeneous networks and guarantee the safe and reliable operation of the electronic functions communicating with gateway-interconnected heterogeneous CANs, this paper extends the proposed schedulability analysis algorithms for messages that are transferred on the gateway-interconnected homogeneous CANs in the aspects of the impact of the bandwidth's heterogeneity on message's execution time and on the analysis of the interfering delay for messages, and then the schedulability analysis for messages transferring on the gateway-interconnected heterogeneous CANs can be finished. Through the comparison analysis that is based on the real message set provided by automobile company, it verified the effectivess of the proposed algorithm.
3. Aiming at the disparity between the high extensibility requirement from the network architecture's design for the new generation of automotive electronic system and the low extensibility support of the FlexRay schedule for its static configuration approach, this research proposes an extensibility-aware message scheduling algorithm for the static segment of FlexRay so that the uncertainty from the signal's size increase can be accommodated. Based on the extensibility requirement's analysis for the message scheduling result of the static segment of the FlexRay, it first gives an uncertainty model to formally describe the growth of signal's size, and it also gives the definition about the extensibility, the extensibility policy and the extensibility evaluation indexes. And then, two basic message scheduling algorithms that are suitable for signal sets of different scales are proposed for signal packing, and combining the basic message scheduling algorithm with the two extensibility improving steps that are contributing to the distribution improving of the left time spaces inside the assigned slots, it realized the accommodation to the size increase of the signals included in the message scheduling result. The comparison analyses that are based on the simulated signal sets and the real signal set provided by the automobile company showed the effectiveness of the proposed algorithm on improving the slot cost and modification cost.
4. Considering the need for improving the real-time performance for the network architecture of the new generation of automotive electronic system, and the complexity of its network parameters'configuration and the need to integrate the design of the computation system and the network system for FlexRay contributing to its time-triggered property, this research proposes a new message scheduling algorithm that can optimize the slot assignment to improve the functional-level's real-time performance from the system level's point of view. Starting from the viewpoint of CPS with the design integration of the computation system and the network, it first gives a scheduling unit model to formally describe the synchronization relation between the task and the signal, and with the aid of the schedulability analysis theory, the feasible slots for each scheduling unit and each ECU can be analyzed successively. Next, according to the average WCRT of all scheduling units that are included in the ECU when it assigned each feasible slot, there is a two dimensional table that includes the above analyzed average WCRT is constructed. Finally, it uses the optimal brand and bound algorithm to search inside that table to find the slot assignment result that can realize the minimization of the sum of the exectution paths'end-to-end WCRT included in the corresponding electronic functions. It firstly proved that under the given assumptions, the proposed slot assignment method realized the minimization of the sum of the end-to-end WCRT of all execution paths incuded in the system. And then through the comparison analyses with the other slot assignment methods based on the simulated and the real signal set and task set, it furtherly verified the effectiveness of the proposed slot assignment method on improving the function level's real-time property.
网络是实现车内ECU(Electronic Control Unit)之间的交互和协作、以及系统反馈控制的基础。伴随着系统的复杂化发展,新一代汽车电子系统的网络体系结构呈现出复杂化、异构化和层次化等特点,并已成为系统复杂性的主要来源。同时考虑到新一代汽车电子系统的CPS(Cyber-Physical System)本质,网络被提升到与计算和控制同等重要的地位,本文提出以ACPS(Automotive Cyber-Physical System)的观点来指导新一代汽车电子系统的设计,重点关注它的网络体系结构设计在实时性、可扩展性方面存在的问题,以在与汽车驾驶和行车安全相关的关键性功能子系统中进行应用的CAN和FlexRay这两种主要的实时网络技术作为研究对象,从消息调度问题入手在系统可调度性分析和优化与系统资源利用率优化两个方面提出一些相应的优化设计算法,以汽车电子系统的安全可靠运行保障和资源高效实现作为主要目标,从而来缓解新一代汽车电子系统因复杂性骤增而在设计方面面临的严峻挑战。
针对上述问题,本文做了以下几个方面的工作：
(1)网关互连的CAN网络是新一代汽车电子系统的网络体系结构的关键组成部分,同时也是其层次化特点的重要体现,但是现有CAN消息调度分析的相关研究仅局限于单个CAN网络的情况。针对该问题,本文提出了可对网关互连的同构CAN网络中的消息进行调度分析的算法。该算法以面向单个CAN网络的消息调度分析算法为基础,结合提出的“忙到达序列”和“最小时间间隔”概念和消息到达顺序搜索算法可实现非网关类型消息的调度分析。对于需要先后在两个CAN网络中进行调度的网关类型消息而言,本文采取“先分解后转化”的方法将其调度分析转化为与非网关类型消息的调度分析相同的情况进行处理。分别通过理论证明、在仿真消息集与汽车厂商提供的真实消息集的基础上开展的实验对比对提出的消息调度分析算法的安全性和有效性进行了验证。
(2)异构性是新一代汽车电子系统的网络体系结构的主要特点,它不仅体现在网络类型的异构方面如网关互连的CAN和FlexRay,还体现在网关互连的不同CAN网络具有异构带宽方面,如在宝马7系中存在基于网关互连的高速CAN和低速CAN的情况。为了支持异构CAN网络的集成和保障基于网关互连异构CAN网络进行通信的汽车电子功能的安全可靠运行,本文以研究内容一中提出的面向网关互连同构CAN网络的消息调度分析算法为基础,主要就网络带宽异构给消息执行时间和消息的抢占时延分析造成的影响进行相应扩展,从而可实现网关互连异构CAN网络中的消息调度分析。在汽车厂商提供的真实消息集的基础之上进行的实验分析验证了本文提出的算法的有效性。
(3)针对FlexRay因采用可扩展性差的静态配置设计方法而不能满足新一代汽车电子系统的网络体系结构在可扩展性方面需求的问题,本文提出了一种面向FlexRay静态段消息调度的可扩展性优化算法,以兼容信号长度的增长作为优化目标。该算法以FlexRay静态段消息调度的可扩展性需求分析为基础,首先提出了一个不确定性模型来对信号长度的增长进行形式化描述,并对可扩展性、可扩展性策略和可扩展性评估指标进行了定义。然后,提出了两个分别适用于不同规模信号集的基本消息调度算法来完成信号打包任务,在此基础之上分别利用评估步骤和启发式信号交换步骤对已分配时隙中剩余的时间间隙的分布进行优化调整来实现对信号长度增长的兼容。分别在仿真信号集和汽车厂商提供的真实信号集的基础之上与其它可扩展性优化算法进行的对比分析验证了本文提出的算法在优化时隙成本和修改成本方面的有效性。
(4)针对新一代汽车电子系统的网络体系结构在实时性优化方面的需求,以及FlexRay因其时间触发特性而在网络参数配置的复杂性和需要对计算系统与网络系统进行集成设计方面遇到的问题,本文从系统级的角度出发提出了一个可对时隙分配进行优化配置以实现功能级实时性优化的调度优化算法。该算法从集成计算系统和网络系统设计的CPS观点出发提出了一个可对任务和信号之间的同步关系进行形式化建模的调度单元模型,并借助调度分析理论对调度单元的可行时隙进行了分析和界定,进而可获得各个ECU的可行时隙集。然后,根据ECU在分配各个可行时隙时它包含的所有调度单元的平均最差反应时间建立一个二维时延表,在此基础之上利用最优的分支界定算法可在上述时延表中搜索到使得系统功能级的端到端最差反应时间之和最小的时隙分配方案。首先证明了在给定假设前提条件下本文提出的时隙分配算法可实现系统功能包含的所有执行路径的端到端最差反应时间之和的最小化,然后在仿真实验集和汽车厂商提供的真实实验集的基础之上,通过与其它时隙分配算法进行的对比分析进一步验证了所提出的时隙分配算法在优化功能级实时性方面的有效性。
Automotive electronic system has become the main driving force of innovation and competition for car industry, and it is also one of the most important approaches for developing new car models and improving a car's performance. In recent years, the stricter economic and societal requirements that are put forward on car make it develop from a close and weakly coupled system to an open, highly networked, extremely heterogeneous and strongly coupled new generation of automotive electronic system. But the rapid increasing complexity brings big challenges for the design of the new generation of automotive electronic system, therefore how to gurantee that the system can meet the requirements from the real-time and reliability and can be implemented efficiently, and then keep the safe and reliable operation and decrease the system's development cost has attracted much attention from the car industry.
Network is the basis to realize the interaction and cooperation among the ECUs and the feedback control within the car. Along with the complicating of the new generation of automotive electronic system, its network architecture that shows the nature of complexity, heterogeneity and hierarchy becomes the main source of system's complexity. And also considering the fact that the new generation of automotive electronic system is a cyber-physical system in essence, network is promoted to the same status with that of computation and control, this paper proposes to design the new generation of automotive electronic system with Automotive CPS's point of view. It means that the main focus should be given to the problems existing in the design of the network architecture, which are related with the real-time performance and extensibility. CAN and FleRay, which are the two most important real-time networks that are employed in the critical subsystems relating to the driving and traffic safey of the car, are chosen as the research object, and beginning from the message scheduling problem, some optimization algorithms are proposed to realize the message's schedulability analysis and schedule optimization, and optimization on system's resource utilization. The target is to gurantee the safe and reliable operation and the resource-efficient implementation of the automotive electronic system, so that the challenges that are caused by system's complexity can be relieved to some extent for the new generation of automotive electronic system.
Based on the problems that are mentioned above, this research is mainly focused on the following aspects:
1. Gateway-interconnected CANs is a key component of the network architecture for the new generation of automotive electronic system, and it is also an important manifestation of its characteristics of hierarchy. But the current research about the CAN message's schedulability analysis is restricted to the case of the single CAN, therefore this research proposes a safe schedulability analysis algorithm for messages that are transferred on the gateway-interconnected homogeneous CANs. The proposed algorithm is based on the schedulability analysis algorithm raised for messages in single CAN, and combining two new concepts that are "Busy Sequence" and "The Minimum Distance Constraint" with the proposed two arriving order searching algorithms, WCRT of the non-gateway type messages can be analyzed. For gateway type messages that need to be scheduled in two CANs successively, this research takes a "first divide and then transform" approach to transform their schedulability problem into the same situation with that of non-gateway type messages. Through the theory proving and the comparison analyses based on the simulated message set and the real message set provided by automobile company, it verified the safety and the effectivess of the proposed algorithm.
2. Heterogeneity is a main feature for the network architecture of the next generation of automotive electronic system, and it is not only reflected in the employed different kinds of networks such as CAN and FlexRay, but also in the gateway-interconnected CANs with different bandwidths. For example, there is gateway-interconnected high-speed CAN and low-speed CAN in BMW7. To support the integration of heterogeneous networks and guarantee the safe and reliable operation of the electronic functions communicating with gateway-interconnected heterogeneous CANs, this paper extends the proposed schedulability analysis algorithms for messages that are transferred on the gateway-interconnected homogeneous CANs in the aspects of the impact of the bandwidth's heterogeneity on message's execution time and on the analysis of the interfering delay for messages, and then the schedulability analysis for messages transferring on the gateway-interconnected heterogeneous CANs can be finished. Through the comparison analysis that is based on the real message set provided by automobile company, it verified the effectivess of the proposed algorithm.
3. Aiming at the disparity between the high extensibility requirement from the network architecture's design for the new generation of automotive electronic system and the low extensibility support of the FlexRay schedule for its static configuration approach, this research proposes an extensibility-aware message scheduling algorithm for the static segment of FlexRay so that the uncertainty from the signal's size increase can be accommodated. Based on the extensibility requirement's analysis for the message scheduling result of the static segment of the FlexRay, it first gives an uncertainty model to formally describe the growth of signal's size, and it also gives the definition about the extensibility, the extensibility policy and the extensibility evaluation indexes. And then, two basic message scheduling algorithms that are suitable for signal sets of different scales are proposed for signal packing, and combining the basic message scheduling algorithm with the two extensibility improving steps that are contributing to the distribution improving of the left time spaces inside the assigned slots, it realized the accommodation to the size increase of the signals included in the message scheduling result. The comparison analyses that are based on the simulated signal sets and the real signal set provided by the automobile company showed the effectiveness of the proposed algorithm on improving the slot cost and modification cost.
4. Considering the need for improving the real-time performance for the network architecture of the new generation of automotive electronic system, and the complexity of its network parameters'configuration and the need to integrate the design of the computation system and the network system for FlexRay contributing to its time-triggered property, this research proposes a new message scheduling algorithm that can optimize the slot assignment to improve the functional-level's real-time performance from the system level's point of view. Starting from the viewpoint of CPS with the design integration of the computation system and the network, it first gives a scheduling unit model to formally describe the synchronization relation between the task and the signal, and with the aid of the schedulability analysis theory, the feasible slots for each scheduling unit and each ECU can be analyzed successively. Next, according to the average WCRT of all scheduling units that are included in the ECU when it assigned each feasible slot, there is a two dimensional table that includes the above analyzed average WCRT is constructed. Finally, it uses the optimal brand and bound algorithm to search inside that table to find the slot assignment result that can realize the minimization of the sum of the exectution paths'end-to-end WCRT included in the corresponding electronic functions. It firstly proved that under the given assumptions, the proposed slot assignment method realized the minimization of the sum of the end-to-end WCRT of all execution paths incuded in the system. And then through the comparison analyses with the other slot assignment methods based on the simulated and the real signal set and task set, it furtherly verified the effectiveness of the proposed slot assignment method on improving the function level's real-time property.
引文
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