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A Design of a Lightweight In-Vehicle Edge Gateway for the Self-Diagnosis of an Autonomous Vehicle

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A Design of a Lightweight In-Vehicle Edge Gateway for the Self-Diagnosis of an Autonomous Vehicle applied sciences Article A Design of a Lightweight In-Vehicle Edge Gateway for the Self-Diagnosis of an Autonomous Vehicle YiNa Jeong 1, SuRak Son 1, EunHee Jeong 2 and ByungKwan Lee 1,* 1 Department of Computer Engineering, Catholic Kwandong University, Gangneung 25601, Korea; [email protected] (Y.J.); [email protected] (S.S.) 2 Department of Regional Economics, Kangwon National University, Samcheok 25913, Korea; [email protected] * Correspondence: [email protected]; Tel.: +82-033-649-7160 Received: 8 August 2018; Accepted: 6 September 2018; Published: 9 September 2018 Abstract: This paper proposes a Lightweight In-Vehicle Edge Gateway (LI-VEG) for the self-diagnosis of an autonomous vehicle, which supports a rapid and accurate communication between in-vehicle sensors and a self-diagnosis module and between in-vehicle protocols. A paper on the self-diagnosis module has been published previously, thus this paper only covers the LI-VEG, not the self-diagnosis. The LI-VEG consists of an In-Vehicle Sending and Receiving Layer (InV-SRL), an InV-Management Layer (InV-ML) and an InV-Data Translator Layer (InV-DTL). First, the InV-SRL receives the messages from FlexRay, Control Area Network (CAN), Media Oriented Systems Transport (MOST), and Ethernet and transfers the received messages to the InV-ML. Second, the InV-ML manages the message transmission and reception of FlexRay, CAN, MOST, and Ethernet and an Address Mapping Table. Third, the InV-DTL decomposes the message of FlexRay, CAN, MOST, and Ethernet and recomposes the decomposed messages to the frame suitable for a destination protocol. The performance analysis of the LI-VEG shows that the transmission delay time about message translation and transmission is reduced by an average of 10.83% and the transmission delay time caused by traffic overhead is improved by an average of 0.95%. Therefore, the LI-VEG has higher compatibility and is more cost effective because it applies a software gateway to the OBD, compared to a hardware gateway. In addition, it can reduce the transmission error and overhead caused by message decomposition because of a lightweight message header. Keywords: Address Mapping Table; In-Vehicle Edge Gateway; self-diagnosis 1. Introduction In the future, more than 200 billion devices will be connected to the cloud and each other in what is commonly called the Internet of Things (IoT) [1]. Therefore, An IoT gateway that is a physical device or software program as the connection point between the cloud and controllers, sensors and intelligent devices plays important role. IoT gateway provides a place to preprocess the data located at the edge before sending it on to the cloud and supports communication between heterogeneous devices. The gateways of connected cars, which are currently being developed, are similar to IoT gateways. As shown in Figure1, the connected car’s ECUs and Gateway need to handle many requirements, such as enhancing engine control and transmission control performance; securing stability through ABS, LDW, and FCW; and increasing convenience through camera and body control. To address these needs, the number of ECUs used in vehicles has increased dramatically and ECUs are connected to various protocols depending on their characteristics [2]. Appl. Sci. 2018, 8, 1594; doi:10.3390/app8091594 www.mdpi.com/journal/applsci Appl. Sci. 2018, 8, 1594 2 of 19 Appl. Sci. 2018, 8, x FOR PEER REVIEW 2 of 19 FigureFigure 1. VehicleVehicle gateways that need to handle in-vehiclein-vehicle sensor data. To processprocess suchsuch a a large large amount amount of data,of data, various various communication communication protocols protocols such assuch FlexRay, as FlexRay, MOST, MOST,CAN and CAN Ethernet and Ethernet are used are inside used the inside vehicle. the CAN,vehicle. a low-speedCAN, a low (1-speed Mbps) (1 communication Mbps) communication protocol protocolused in conventional used in conventional in-vehicle communications, in-vehicle communications, is used to process is used relatively to process less important relatively vehicle less importantcontrol sensor vehicle data. control FlexRay, sensor a high-speeddata. FlexRay, (10 a Mbps) high-speed communication (10 Mbps) protocol,communication is mainly protocol, used tois processmainly used control to process data of control major parts data of amajor vehicle. parts MOST of a vehicle. and Ethernet MOST haveand Ethernet speeds uphave to speeds 150 Mbps. up toMOST 150 Mbps. is a ring MOST type networkis a ring that type processes network multimedia that processes data multimedia such as voice data and such video as inside voice theand vehicle, video insideand Ethernet the vehicle, can be and used Ethernet as a backbone can be of used in-vehicle as a networkbackbone or of as in a V2X-vehicle communication network or protocol.as a V2X communicationTo support protoc these protocols,ol. there have been various studies on the gateway inside the vehicle. However,To support gateways these with protocols, minimum there transmission have been delayvarious only studies support on somethe gateway protocols inside such the as vehicle. CAN to However,FlexRay and gateways MOST to with CAN, minimum and gateways transmission that support delay communication only support some for all protocols protocols such had increased as CAN totransmission FlexRay and delay. MOST to CAN, and gateways that support communication for all protocols had increasedTo support transmission the four delay. major protocols (i.e., CAN, FlexRay, MOST, and Ethernet) used for in-vehicle communicationsTo support the and four to minimizemajor protocols the transmission (i.e., CAN, delay FlexRay, of gateways, MOST, and this Ethernet) paper proposes used for a inLightweight-vehicle communications In-Vehicle Edge and Gateway to minimize (LI-VEG) the for transmission the self-diagnosis delay ofof an gateways, autonomous this vehicle.paper Theproposes LI-VEG a Ligh receivestweight the In messages-Vehicle from Edge the Gateway source sensor(LI-VEG) or actuator,for the self translates-diagnosis the of received an autonomous messages vehicle.into the formatThe LI- ofVEG a destination receives the protocol, messages and from transfers the thesource translated sensor messagesor actuator, to thetranslates destination the receivedECU, sensor, messages or actuator, into the and format the of messages a destination received protocol, from aand source transfers to the the self-diagnosis translated messages module. toBecause the destination the LI-VEG ECU, supports sensor, four or major actuator, protocols, and contrarythe messages to the received existing vehiclefrom a gateway,source to it hasthe selfgood-diagnosis scalability module. and compatibility. Because the In LI addition,-VEG supports The LI-VEG four major is indispensable protocols, tocontrary self-diagnosis to the existing module vehicleof an autonomous gateway, it vehiclehas good due scalability to its rapidity and comp and accuracy.atibility. AIn paperaddition, on theThe self-diagnosis LI-VEG is indispensable module has toalready self-diagnosis been published module [ 3of], thusan autonomous this paper only vehicle covers due the to its LI-VEG, rapidity not and the accuracy. self-diagnosis. A paper on the self-diagnosisThe remainder module of has the paperalready is been organized published as follows. [3], thus In Sectionthis paper2, related only covers works the are LI introduced.-VEG, not theIn Section self-diagnosis.3, the configuration and operation of LI-VEG are described. In Section4, the performance evaluationThe remainder focuses inof particularthe paper onis organized the transmission as follows. delay In andSection error 2, raterelated for messageworks are transmission. introduced. InFinally, Section Section 3, the5 configurationpresents the conclusions and operation of the of paper.LI-VEG are described. In Section 4, the performance evaluation focuses in particular on the transmission delay and error rate for message transmission. Finally,2. Related Section Works 5 presents the conclusions of the paper. 2.1. On-Board Diagnostics 2. Related Works Onboard-diagnostic (OBD) is an automotive term for self-diagnosis and reporting of vehicles. 2.1.OBD On system-Board isDiagnostics developed to detect engine operation conditions for air-pollution monitoring [4]. The basicOnboard meaning-diagnostic of OBD is as(OBD) above is andan automotive it is used in term various for ways.self-diagnosis OBD related and researchreporting is of as vehicles. follows. OBDConfiguration system is developed of on-board to detect diagnostics engine system operation and conditions diagnostic communicationfor air-pollution module monitoring ELM327 [4]. Theare introduced.basic meaning According of OBD to is elements as above of and ELM327 it is used and Keywordin various 2000 ways. protocols, OBD related an OBDII research diagnostic is as procedurefollows. is developed based on LabVIEW program [5]. ConfigurationOchs. T. et al. of [6 on] developed-board diagnostics exhaust system gas sensors and diagnostic for particulate communication matter (EGS-PM) module based ELM327 on aremultilayer introduced. ceramic According sensor technology. to elements Sensors of ELM327 must be and able Keyword to detect soot2000 emissions protocols, directly an OBDII after diagnosticthe DPF, be procedure able to withstand is developed harsh based exhaust on gasLabVIEW environments, program and [5]. meet future OBD legislation that includesOchs. stricter T. et requirementsal. [6] developed for monitoring exhaust gas the sensors function
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