控制器局域网络(Controller Area Network)CAN-TSN(Time Sensitive Networking,时间敏感网络)网关是下一代车载网络架构中关键业务数据端到端传输路径上的重要环节,其实时性直接影响跨异构网络系统传输报文的可调度性.针对CAN-TSN网关实时性分析,现有研究存在网关处理延时组成要素不全、缺乏对TSN网络的调度规划结果的联合分析等亟待解决的问题,导致利用现有研究获取的可调度集往往无法满足端到端的截止时间约束.针对上述问题,提出一种基于联合规划的CAN-TSN网关实时性分析方法.该方法基于现有CAN-TSN网关架构设计构建通用框架,分析网关处理延时组成,获取处理延时的参数化模型;联合TSN网络的规划调度结果,推导满足报文端到端可调度性的网关延时上界;搭建CAN-TSN网关原型系统,使用真实车载CAN消息集进行可调度率分析.实验结果表明,基于联合规划的CAN-TSN网关实时性分析方法,能够收紧真实环境中CAN消息集的可调度范围,使得可调度率收紧约6.7％,同时能够对网关实时性架构优化起指导作用.
A real-time analysis method of CAN-TSN gateway based on joint planning
The Controller Area Network(CAN)-Time Sensitive Networking(TSN)gateway serves as a crucial element in the end-to-end transmission path for transmitting critical service data in the next-generation in-vehicle network architecture.Its real-time performance has a direct impact on the ability to schedule messages transmitted across heterogeneous network systems.However,existing studies on the real-time performance of CAN-TSN gateways face urgent issues,such as incomplete consideration of gateway processing delays and a lack of joint analysis of scheduling planning results for TSN networks.As a result,the schedulable set obtained using existing studies often fails to meet end-to-end deadline constraints.To address these issues,a real-time analysis method for CAN-TSN gateways based on joint planning is proposed.The method constructs a general architecture based on the existing CAN-TSN gateway architecture design and analyzes the composition of gateway processing delays to obtain a parametric model of processing delay.The proposed method derives an upper bound on the gateway delay that satisfies the end-to-end schedulability of messages by combining the planning and scheduling results of TSN networks.Furthermore,the proposed method builds a CAN-TSN gateway prototype system and uses a real TSN gateway prototype system to perform schedulability analysis using real in-vehicle CAN message sets.The experimental results show that the proposed method can tighten the schedulable range of CAN message sets in a real environment,resulting in a schedulable rate tightening of approximately 6.7％.The proposed method can also guide the optimization of the gateway's real-time architecture.
in-vehicle networktime sensitive networkingCAN busgateway for conversionreal-time analysis
万方数据
维普
