Optimization of In-Vehicle Network Design by Taeju Park A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy (Computer Science and Engineering) in the University of Michigan 2021 Doctoral Committee: Professor Kang G. Shin, Chair Professor Ella M. Atkins Research Professor Emeritus Peter Honeyman Associate Professor Alanson Sample Taeju Park [email protected] ORCID iD: 0000-0002-1439-2709 © Taeju Park 2021 To my wife Minjeong and my family Minsu, Myungok and Jieun ii ACKNOWLEDGEMENTS First and foremost, I thank my parents and my wife for their eternal love and support. Without their unswerving dedication, my PhD journey would have been more arduous and difficult. I sincerely and greatly thank my advisor, Professor Kang G. Shin, for his support, pa- tience, advice, and guidance. During my doctoral study, he has always guided me in the right direction and encouraged me to aim high. With his insightful guidance and extraordi- nary patience, I could grow up to be what I am today. Also, I would like to thank Professors Ella M. Atkins, Peter Honeyman, and Alanson Sample for serving on my dissertation com- mittee and giving me valuable feedback on this thesis. Being a member of Real-Time Computing Laboratory (RTCL) was a great fortune to me. RTCL members are always enthusiastic of solving real problems, and their attitude and passion motivated me greatly. I would like to thank all RTCL members; Huan Feng, Kassem Fawaz, Eugene Kim, Yu-Chih Tung, Kyong Tak Cho, Youngmoon Lee, Arun Ganesan, Dongyao Chen, Timothy Trippel, Juncheng Gu, Chun-Yu Chen, Mert D. Pese, Duc Bui, Hsun-Wei Cho, Youssef Tobah, Noah Curran, Wei-Lun Huang, Kyusuk Han, Liang He, Hoon Sung Chwa, Xiufeng Xie, Hamed Yousefi, Suining He, Haichuan Ding, and Jinkyu Lee. I would also like to thank my collaborators; Soheil Samnii and Prachi Joshi at General Motors and Jiarui Lyu. I am also grateful to my friends in Ann Arbor – Kibok Lee, Sunghyun Park, Heewoo Kim, Dongyoung Yoon, Yoontae Kang and Amaryllis Rodr´ıguez Mojica – for their care and encouragements. iii TABLE OF CONTENTS DEDICATION ..................................... ii ACKNOWLEDGEMENTS .............................. iii LIST OF FIGURES .................................. viii LIST OF TABLES ................................... xi ABSTRACT ...................................... xii CHAPTER 1 Introduction ..................................... 1 1.1 Design challenges..............................2 1.2 State-of-art optimization techniques....................3 1.2.1 Timing verification.........................4 1.2.2 Network configuration.......................4 1.3 Thesis Statement and Contributions....................5 1.3.1 PAMT................................6 1.3.2 EACAN...............................6 1.3.3 DOFP................................7 1.3.4 OPMB...............................7 1.3.5 PRMB...............................8 1.4 Outline...................................9 2 Background ..................................... 10 2.1 Controller Area Network (CAN)...................... 10 2.1.1 CAN frame format......................... 10 2.1.2 Bus Arbitration........................... 11 2.1.3 Timing analysis of a CAN message................ 11 2.2 Controller area network with flexible data rate (CAN-FD)......... 14 2.2.1 CAN-FD frame format....................... 14 2.2.2 Switching Bit Rate......................... 16 2.2.3 Timing analysis of CAN-FD message............... 16 2.3 Ethernet Time-Sensitive Networking (TSN)................ 16 2.3.1 Frame preemption......................... 17 iv 2.3.2 Timing analysis of messages on Ethernet TSN with frame pre- emption............................... 18 3 PAMT: Optimal Priority Assignment for Scheduling Mixed CAN and CAN- FD Frames ...................................... 23 3.1 Introduction................................. 23 3.2 Mixed CAN and CAN-FD System Model................. 25 3.2.1 Network Model........................... 25 3.2.2 Mixed Frame Model........................ 25 3.2.3 Mixed Frame-Instance Model................... 26 3.3 Scheduling Mixed CAN and CAN-FD................... 26 3.3.1 Why Problem?........................... 26 3.3.2 Hardware Solution......................... 26 3.3.3 Software Solution......................... 27 3.4 Problem Statement............................. 29 3.5 Priority Assignment with Mode Transitions................ 29 3.5.1 Basic Idea of PAMT........................ 29 3.5.2 PAMT Algorithm.......................... 30 3.5.3 Optimality of PAMT........................ 35 3.6 Practical Issues............................... 37 3.6.1 Assigning ID to frame instances.................. 37 3.6.2 Triggering a Mode Transition................... 38 3.6.3 Transient Error........................... 39 3.6.4 Unsynchronized Clock....................... 40 3.6.5 Sporadic Frames.......................... 41 3.7 Evaluation.................................. 42 3.7.1 Simulation Setup.......................... 42 3.7.2 Results and Analysis........................ 43 3.8 Related Work................................ 44 3.9 Conclusion................................. 45 4 EACAN: Reliable and Resource-Efficient CAN Communications ....... 47 4.1 Introduction................................. 47 4.2 System Model and Assumptions...................... 48 4.2.1 Overall Architecture........................ 48 4.2.2 Error Model............................ 49 4.2.3 Mixed-Criticality CAN Message Model.............. 50 4.3 Problem Statement............................. 52 4.4 Error-Adaptive CAN (EACAN)....................... 53 4.4.1 Overview.............................. 53 4.4.2 Runtime TER............................ 54 4.4.3 Deciding on System Criticality Level............... 57 4.4.4 Solving the Optimization Problem................. 58 4.4.5 Runtime Decision on System Criticality Level.......... 60 4.4.6 EACAN Schedulability Analysis.................. 62 v 4.4.7 Analysis of Overhead of Changing γsys .............. 64 4.5 Evaluation.................................. 65 4.5.1 Experimentation.......................... 66 4.5.2 Simulation............................. 69 4.6 Conclusion................................. 73 5 DOFP: Design Optimization of Frame Preemption in Real-Time Switched Ethernet ....................................... 74 5.1 Introduction................................. 74 5.2 System Description and Model....................... 75 5.2.1 System Architecture........................ 75 5.2.2 Networked System Model..................... 76 5.3 Synthesis Problem.............................. 78 5.4 Generic Solution Approach......................... 80 5.4.1 Overview of GA-Based Framework................ 80 5.4.2 Initialization............................ 81 5.4.3 Evolution Procedure........................ 81 5.5 Case Study 1: Reliability.......................... 82 5.5.1 ARQ Protocol........................... 82 5.5.2 Applying the GA-Based Framework................ 83 5.6 Case Study 2: Extensibility......................... 85 5.6.1 Applying GA-Based Framework.................. 85 5.7 Evaluation.................................. 87 5.7.1 Methodology............................ 87 5.7.2 Evaluation Results & Analysis................... 89 5.8 Conclusions................................. 92 6 OPMB: Optimal Priority Assignment for Multi CAN/CAN-FD Buses with a Central Gateway .................................. 94 6.1 Introduction................................. 94 6.2 Related Work................................ 96 6.2.1 Priority assignment for CAN/CAN-FD.............. 96 6.2.2 Priority assignment for distributed real-time system........ 97 6.3 System Model................................ 97 6.3.1 Bus and message models...................... 98 6.3.2 Gateway model........................... 99 6.4 Global priority assignment vs. per-bus priority assignment for a CAN/CAN- FD multi-bus system............................ 100 6.4.1 Implementation........................... 101 6.4.2 Schedulability........................... 101 6.5 Problem Statement............................. 102 6.6 OPMB................................... 102 6.6.1 Input parameters and return values................. 104 6.6.2 Initial state............................. 104 6.6.3 OPMB overall procedure..................... 105 vi 6.6.4 Pruning unnecessary searches................... 106 6.7 Evaluation.................................. 110 6.7.1 Simulator Setup.......................... 111 6.7.2 Test cases.............................. 113 6.7.3 Evaluation results and analyses.................. 116 6.8 Extensions.................................. 118 6.9 Conclusion................................. 119 7 PRMB: Priority Assignment and Routing Table Synthesis for Multi CAN/CAN- FD Buses with a Central Gateway ......................... 120 7.1 Introduction................................. 120 7.2 Related Work................................ 122 7.3 System Model................................ 122 7.3.1 Bus model............................. 123 7.3.2 Signal and message model..................... 123 7.3.3 Gateway model........................... 124 7.4 PDU-direct vs. Signal-based Routing.................... 125 7.4.1 Network load............................ 126 7.4.2 Processing delay.......................... 126 7.4.3 Measuring and analyzing processing delay............ 127 7.5 Problem Statement............................. 130 7.6 PRMB.................................... 131 7.6.1 Overall Procedure......................... 131 7.6.2 Pre-processing