In-vehicle communication networks - a historical perspective and review∗

Nicolas Navet1, Françoise Simonot-Lion2

August 31, 2013

1: University of Luxembourg, FSTC/LASSY, 6 rue Coudenhove-Kalergi, L-1359 Luxembourg 2: LORIA - Université de Lorraine, Campus Scientique, BP 239 54506 Vandoeuvre-lès-Nancy - France Contact author: Nicolas Navet ([email protected])

Abstract

The use of networks for communications between the Electronic Control Units (ECU) of a vehicle in production cars dates from the beginning of the 90s. The specic requirements of the dierent car domains have led to the development of a large number of automo- tive networks such as LIN, CAN, CAN FD, FlexRay, MOST, auto- motive AVB, etc.. This report rst introduces the context of in-vehicle embedded systems and, in particular, the requirements imposed on the communication systems. Then, a review of the most widely used, as well as the emerging automotive networks is given. Next, the current eorts of the on middleware technologies which may be of great help in mastering the heterogeneity, are reviewed, with a special focus on the proposals of the AUTOSAR consortium. Finally, we highlight future trends in the development of automotive communication systems.

∗This technical report is an updated version of two earlier review papers on automotive networks: N. Navet, Y.-Q. Song, F. Simonot-Lion, C. Wilwert, "Trends in Automotive Communication Systems", Proceedings of the IEEE, special issue on Industrial Commu- nications Systems, vol 96, nº6, pp1204-1223, June 2005 [66]. An updated version of this IEEE Proceedings then appeared as chapter 4 in The Automotive Embedded Systems Handbook in 2008 [62].

1 Contents

1 Automotive communication systems: characteristics and constraints 3 1.1 From point-to-point to multiplexed communications . .3 1.2 Car domains and their evolution ...... 4 1.3 Event-triggered versus Time-triggered ...... 6 1.4 Dierent networks for dierent requirements ...... 7 1.5 New challenges for in-vehicle communication systems . .8 1.5.1 Real-time processing of large data quantities . .8 1.5.2 Reducing electrical energy consumption . . . . .9 1.5.3 Security issues ...... 9

2 In-car embedded networks 10 2.1 The CAN network ...... 11 2.1.1 The CAN protocol ...... 11 2.1.2 CAN's use in today's automobiles ...... 15 2.1.3 Other priority buses: VAN and J1850 ...... 17 2.1.4 CAN FD: a high speed CAN network ...... 17 2.2 Time-Triggered networks ...... 18 2.2.1 The FlexRay Protocol ...... 19 2.2.2 The TTCAN protocol ...... 21 2.3 Low-cost automotive networks ...... 22 2.3.1 The LIN network ...... 23 2.3.2 The TTP/A network ...... 25 2.3.3 The PSI5 and SENT networks ...... 25 2.4 Multimedia and infotainment networks ...... 25 2.4.1 The MOST network ...... 26 2.4.2 The 1394 Automotive network ...... 26 2.5 Automotive Ethernet ...... 27 2.5.1 Motivation and use-cases for Ethernet ...... 27 2.5.2 BroadR-Reach ...... 28 2.5.3 Ethernet AVB ...... 28 2.5.4 TTEthernet ...... 29

3 Automotive middleware 29 3.1 Objectives of an embedded middleware ...... 29 3.2 Former propositions of middleware ...... 31 3.3 AUTOSAR - a standard for the automotive industry . . 32 3.3.1 The reference model ...... 32 3.3.2 The communication services ...... 33 3.3.3 The end-to-end communication protection library 37

4 Conclusions and discussion 38

2 1 Automotive communication systems: character- istics and constraints

1.1 From point-to-point to multiplexed communications

Since the 1970s, one observes an exponential increase in the number of electronic systems that have gradually replaced those that are purely me- chanical or hydraulic. The growing performance and reliability of hardware components and the possibilities brought by software technologies enabled implementing complex functions that improve the comfo