Timing Analysis of Precedence Constraint Messages Scheduled With Slot Multiplexing Over Dynamic Segment of FlexRay

Abstract

FlexRay offers high-speed reliable transmission in the vehicle domain. Thus, it is one of the most popular in-vehicle communication protocols for the applications that are safety-critical or applications with very low transmission time requirement. Due to the real-time constraint, the worst case end-to-end delay (EED) for such applications transmitting over a shared bus must be known. This paper addresses the problem of computation of EED for a given set of tasks with precedence constraint and corresponding messages, which are scheduled with slot multiplexing for event-triggered communication over the dynamic segment of FlexRay. First, computing precise delay has been shown to be an intractable problem. Subsequently, motivated by the intractability, an efficient estimation technique has been proposed to compute approximate EED. Unlike the common practice of considering the network in isolation, we present a comprehensive timing analysis, which considers the effects of task execution as well. Moreover, EED is allowed to be greater than interactivation time of task graph. The extensive simulation has been performed on the test cases generated with uniform as well as normal distribution. Note to Practitioners —In the past few decades, due to the large-scale use and sophistication of automotive electronic systems, various in-vehicle communication networks and protocols are also evolving. FlexRay is one such in-vehicle communication protocol, which provides the mechanism for the fault-tolerant high-speed communication over FlexRay bus. FlexRay is widely being employed for safety-critical applications in the automotive domain. For such applications, often the timing constraint is imposed with a bound on the worst case EED. Thus, timing properties of the designed network must be verified before applying it on the real domain such that the worst case EED for the propagation of an event at sensor end to actuator end is known. The proposed estimation technique can be used to compute approximate EED for an application scheduled with other applications over the dynamic segment of FlexRay. In addition, various guidelines for designing the network in order to reduce overestimation have also been presented.