In-vehicle communication networks : a literature survey Citation for published version (APA): Keskin, U. (2009). In-vehicle communication networks : a literature survey. (Computer science reports; Vol. 0910). Technische Universiteit Eindhoven. Document status and date: Published: 01/01/2009 Document Version: Publisher’s PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication: • A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license above, please follow below link for the End User Agreement: www.tue.nl/taverne Take down policy If you believe that this document breaches copyright please contact us at: [email protected] providing details and we will investigate your claim. Download date: 27. Sep. 2021 IN-VEHICLE COMMUNICATION NETWORKS: A LITERATURE SURVEY Uğur Keskin Technische Universiteit Eindhoven (TU/e) Den Dolech 2, 5600 AZ Eindhoven, The Netherlands [email protected] JULY 28, 2009 ABSTRACT The increasing use of electronic systems in automobiles instead of mechanical and hydraulic parts brings about advantages by decreasing their weight and cost and providing more safety and comfort. There are many electronic systems in modern automobiles like antilock braking system (ABS) and electronic brakeforce distribution (EBD), electronic stability program (ESP) and adaptive cruise control (ACC). Such systems assist the driver by providing better control, more comfort and safety. In addition, future x-by-wire applications aim to replace existing braking, steering and driving systems. The developments in automotive electronics reveal the need for dependable, efficient, high-speed and low cost in-vehicle communication. This report presents the summary of a literature survey on in-vehicle communication networks. Different in-vehicle system domains and their requirements are described and main in- vehicle communication networks that have been used in automobiles or are likely to be used in the near future are discussed and compared with key references. TABLE OF CONTENTS ABSTRACT...................................................................................................................... i TABLE OF CONTENTS................................................................................................. ii LIST OF TABLES.......................................................................................................... iv LIST OF FIGURES ......................................................................................................... v LIST OF ABBREVIATIONS......................................................................................... vi SECTION 1. INTRODUCTION ....................................................................................................... 8 2. AUTOMOTIVE DOMAINS ....................................................................................... 9 2.1. Performance Attributes.................................................................................. 10 2.2. Automotive Domains and Requirements....................................................... 13 2.2.1. The Powertrain Domain..................................................................... 15 2.2.2. The Chassis Domain .......................................................................... 15 2.2.3. The Body Domain.............................................................................. 16 2.2.4. The Telematics Domain..................................................................... 17 2.2.5. The Passive Safety Domain ............................................................... 17 2.3. Classification of In-vehicle Networks ........................................................... 18 2.4. In-Vehicle Network Examples....................................................................... 19 3. TIME AND EVENT-TRIGGERED COMMUNICATION...................................... 22 3.1 A General Network Model ............................................................................. 23 3.2 Communication Paradigms: Event & Time Triggered ................................... 26 4. IN-VEHICLE COMMUNICATION PROTOCOLS................................................. 30 4.1. In-vehicle Networks....................................................................................... 31 4.1.1. Local Interconnect Network (LIN) .................................................... 32 4.1.2. Controller Area Network (CAN) ....................................................... 32 4.1.3. Byteflight ........................................................................................... 36 4.1.4. Time-Triggered Protocol (TTP/C)..................................................... 37 4.1.5. Time-Triggered Controller Area Network (TTCAN)........................ 38 ii 4.1.6. FlexRay.............................................................................................. 39 4.1.7. Media Oriented Systems Transport (MOST)..................................... 40 4.2. Middleware layer ........................................................................................... 43 4.3. Summary........................................................................................................ 44 5. SUMMARY AND CONCLUSION .......................................................................... 44 ACKNOWLEDGEMENTS........................................................................................... 46 REFERENCES .............................................................................................................. 47 iii LIST OF TABLES TABLES Table 2.1 BMW 7 series domain properties in numbers [10]........................................ 21 Table 2.2 In-vehicle domains’ communication requirements’ matrix........................... 22 Table 3.1 Comparison of in-vehicle communication paradigms................................... 29 Table 4.1 Summary of wired in-vehicle communication networks............................... 42 iv LIST OF FIGURES FIGURES Figure 2.1 Volvo XC90 network architecture [10]........................................................ 14 Figure 2.2 A steer-by-wire system prototype [13][14].................................................. 16 Figure 2.3 Comparison of several in-vehicle network protocols with respect to data rate and communication cost [20]............................................................................. 19 Figure 2.4 BMW 7 Series network infrastructure [10][15] ........................................... 20 Figure 2.5 VW Passat network infrastructure [10][16] ................................................. 21 Figure 3.1 Fieldbus network architecture ...................................................................... 23 Figure 3.2 Application model involving tasks and messages [36] ................................ 25 Figure 4.1 CAN 2.0A message format .......................................................................... 33 Figure 4.2 Layered software architecture of an ECU .................................................... 43 v LIST OF ABBREVIATIONS 4WD 4 Wheel Drive ABS Antilock Braking System ACC Adaptive Cruise Control ACK Acknowledgment ASC Automatic Stability Control ASIC Application Specific Integrated Circuit ASR Anti-Slip Regulation AUTOSAR Automotive Open System Architecture CAN Controller Area Network CC Cruise Control CD Compact Disc CPU Central Processing Unit CRC Cyclic Redundancy Check CSMA Carrier Sense Multiple Access CSMA/CA CSMA/Collision Avoidance CSMA/CD CSMA/Collision Detection CSMA/CR CSMA/Collision Resolution D2B Digital Data Bus DLC Data Length Code DM Deadline Monotonic DVD Digital Versatile Disc EBD Electronic Brakeforce Distribution ECU Electronic Control Unit EDC Electronic Damper Control EDF Earliest Deadline First EEPROM Electrically Erasable Programmable Read-Only Memory vi EMI Electromagnetic Interference EOF End of Frame EPS Electronic Power Steering ESP Electronic Stability Program FTT-CAN Flexible Time-Triggered Controller Area Network GPS Global Positioning System I/O Input/Output ISO International Standards Organization LIN Local Interconnect Network MEDL Message Descriptor List MOST Media-Oriented System Transport NGU Never-Give-Up NTU Network Time Unit OFP Optimized Frame Packing Algorithm