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2019
- Philipp Meyer, Timo Häckel, Franz Korf, and Thomas C. Schmidt. DoS Protection through Credit Based Metering - Simulation-Based Evaluation for Time-Sensitive Networking in Cars. In: Proceedings of the 6th International OMNeT++ Community Summit 2019. Pages 52—59, Dec. 2019, EasyChair,
[Abstract], [Online], [DOI], [ArXiv], [Bibtex]Ethernet is the most promising solution to reduce complexity and enhance the bandwidth in the next generation in-car networks. Dedicated Ethernet protocols enable the real-time aspects in such networks. One promising candidate is the IEEE 802.1Q Time-Sensitive Networking protocol suite. Common Ethernet technologies, however, increases the vulnerability of the car infrastructure as they widen the attack surface for many components. In this paper proposes an IEEE 802.1Qci based algorithm that on the one hand, protects against DoS attacks by metering incoming Ethernet frames. On the other hand, it adapts to the behavior of the Credit Based Shaping algorithm, which was standardized for Audio/Video Bridging, the predecessor of Time-Sensitive Networking. A simulation of this proposed Credit Based Metering algorithm evaluates the concept.
@InProceedings{ mhks-dpcbm-19, author = {Philipp Meyer and Timo H{\"a}ckel and Franz Korf and Thomas C. Schmidt}, editor = {Meyo Zongo and Antonio Virdis and Vladimir Vesely and Zeynep Vatandas and Asanga Udugama and Koojana Kuladinithi and Michael Kirsche and Anna F{\"o}rster}, title = {DoS Protection through Credit Based Metering - Simulation-Based Evaluation for Time-Sensitive Networking in Cars}, booktitle = {Proceedings of the 6th International OMNeT++ Community Summit 2019}, month = dec, year = 2019, pages = {52--59}, volume = {66}, publisher = {EasyChair}, url = {https://easychair.org/publications/paper/BtKC}, issn = {2398-7340}, doi = {10.29007/pxrk}, eprinttype = {arxiv}, eprint = {1908.09646}, abstract = {Ethernet is the most promising solution to reduce complexity and enhance the bandwidth in the next generation in-car networks. Dedicated Ethernet protocols enable the real-time aspects in such networks. One promising candidate is the IEEE 802.1Q Time-Sensitive Networking protocol suite. Common Ethernet technologies, however, increases the vulnerability of the car infrastructure as they widen the attack surface for many components. In this paper proposes an IEEE 802.1Qci based algorithm that on the one hand, protects against DoS attacks by metering incoming Ethernet frames. On the other hand, it adapts to the behavior of the Credit Based Shaping algorithm, which was standardized for Audio/Video Bridging, the predecessor of Time-Sensitive Networking. A simulation of this proposed Credit Based Metering algorithm evaluates the concept.}, series = {EPiC Series in Computing}, bibsource = {EasyChair, https://easychair.org}, langid = {english} } - Mehmet Cakir, Timo Häckel, Sandra Reider, Philipp Meyer, Franz Korf, and Thomas C. Schmidt. A QoS Aware Approach to Service-Oriented Communication in Future Automotive Networks. In: 2019 IEEE Vehicular Networking Conference (VNC). Dec. 2019,
[Abstract], [Online], [ArXiv], [Bibtex]Service-Oriented Architecture (SOA) is about to enter automotive networks based on the SOME/IP middleware and an Ethernet high-bandwidth communication layer. It promises to meet the growing demands on connectivity and flexibility for software components in modern cars. Largely heterogeneous service requirements and time-sensitive network functions make Quality-of-Service (QoS) agreements a vital building block within future automobiles. Existing middleware solutions, however, do not allow for a dynamic selection of QoS. This paper presents a service-oriented middleware for QoS aware communication in future cars. We contribute a protocol for dynamic QoS negotiation along with a multi-protocol stack, which supports the different communication classes as derived from a thorough requirements analysis. We validate the feasibility of our approach in a case study and evaluate its performance in a simulation model of a realistic in-car network. Our findings indicate that QoS aware communication can indeed meet the requirements, while the impact of the service negotiations and setup times of the network remain acceptable provided the cross-traffic during negotiations stays below 70% of the available bandwidth.
@InProceedings{ chrmk-qosso-19, author = {Mehmet Cakir AND Timo H{\"a}ckel AND Sandra Reider AND Philipp Meyer AND Franz Korf AND Thomas C. Schmidt}, title = {{A QoS Aware Approach to Service-Oriented Communication in Future Automotive Networks}}, booktitle = {2019 IEEE Vehicular Networking Conference (VNC)}, location = {Los Angeles, California, USA}, month = dec, year = 2019, url = {https://arxiv.org/abs/1911.01805}, eprinttype = {arxiv}, eprint = {1911.01805}, abstract = {Service-Oriented Architecture (SOA) is about to enter automotive networks based on the SOME/IP middleware and an Ethernet high-bandwidth communication layer. It promises to meet the growing demands on connectivity and flexibility for software components in modern cars. Largely heterogeneous service requirements and time-sensitive network functions make Quality-of-Service (QoS) agreements a vital building block within future automobiles. Existing middleware solutions, however, do not allow for a dynamic selection of QoS. This paper presents a service-oriented middleware for QoS aware communication in future cars. We contribute a protocol for dynamic QoS negotiation along with a multi-protocol stack, which supports the different communication classes as derived from a thorough requirements analysis. We validate the feasibility of our approach in a case study and evaluate its performance in a simulation model of a realistic in-car network. Our findings indicate that QoS aware communication can indeed meet the requirements, while the impact of the service negotiations and setup times of the network remain acceptable provided the cross-traffic during negotiations stays below 70\% of the available bandwidth.}, langid = {english} } - Timo Häckel, Philipp Meyer, Franz Korf, and Thomas C. Schmidt. SDN4CoRE: A Simulation Model for Software-Defined Networking for Communication over Real-Time Ethernet. In: Proceedings of the 6th International OMNeT++ Community Summit 2019. Pages 24—31, Dec. 2019, EasyChair,
[Abstract], [Online], [DOI], [ArXiv], [Bibtex]Ethernet has become the next standard for automotive and industrial automation networks. Standard extensions such as IEEE 802.1Q Time-Sensitive Networking (TSN) have been proven to meet the real-time and robustness requirements of these environments. Augmenting the TSN switching by Software- Defined Networking functions promises additional benefits: A programming option for TSN devices can add much value to the resilience, security, and adaptivity of the environment. Network simulation allows to model highly complex networks before assembly and is an essential process for the design and validation of future networks. Still, a simulation environment that supports programmable real-time networks is missing. This paper fills the gap by sharing our simulation model for Software-Defined Networking for Communication over Real-Time Ethernet (SDN4CoRE) and present initial results in modeling programmable real-time networks. In a case study, we show that SDN4CoRE can simulate complex programmable real-time networks and allows for testing and verifying the programming of real-time devices.
@InProceedings{ hmks-smsdn-19, author = {Timo H{\"a}ckel and Philipp Meyer and Franz Korf and Thomas C. Schmidt}, editor = {Meyo Zongo and Antonio Virdis and Vladimir Vesely and Zeynep Vatandas and Asanga Udugama and Koojana Kuladinithi and Michael Kirsche and Anna F{\"o}rster}, title = {{SDN4CoRE: A Simulation Model for Software-Defined Networking for Communication over Real-Time Ethernet}}, booktitle = {Proceedings of the 6th International OMNeT++ Community Summit 2019}, month = dec, year = 2019, pages = {24--31}, volume = {66}, publisher = {EasyChair}, url = {https://easychair.org/publications/paper/1TnZ}, issn = {2398-7340}, doi = {10.29007/w71t}, eprinttype = {arxiv}, eprint = {1908.09649}, abstract = {Ethernet has become the next standard for automotive and industrial automation networks. Standard extensions such as IEEE 802.1Q Time-Sensitive Networking (TSN) have been proven to meet the real-time and robustness requirements of these environments. Augmenting the TSN switching by Software- Defined Networking functions promises additional benefits: A programming option for TSN devices can add much value to the resilience, security, and adaptivity of the environment. Network simulation allows to model highly complex networks before assembly and is an essential process for the design and validation of future networks. Still, a simulation environment that supports programmable real-time networks is missing. This paper fills the gap by sharing our simulation model for Software-Defined Networking for Communication over Real-Time Ethernet (SDN4CoRE) and present initial results in modeling programmable real-time networks. In a case study, we show that SDN4CoRE can simulate complex programmable real-time networks and allows for testing and verifying the programming of real-time devices.}, series = {EPiC Series in Computing}, bibsource = {EasyChair, https://easychair.org}, langid = {english} } - Till Steinbach. Ethernet-based Network Architectures for Future Real-time Systems in the Car. In: ATZ worldwide. Pages 72—77, Jul. 2019,
[Online], [DOI], [Bibtex]@Article{ s-enafr-19, author = {Steinbach, Till}, title = {Ethernet-based Network Architectures for Future Real-time Systems in the Car}, journal = {ATZ worldwide}, month = jul, year = 2019, pages = {72--77}, volume = {121}, number = {7}, url = {https://doi.org/10.1007/s38311-019-0071-x}, issn = {2192-9076}, doi = {10.1007/s38311-019-0071-x}, day = {01}, langid = {english} } - Timo Häckel, Philipp Meyer, Franz Korf, and Thomas C. Schmidt. Software-Defined Networks Supporting Time-Sensitive In-Vehicular Communication. In: 2019 IEEE 89th Vehicular Technology Conference (VTC2019-Spring). Pages 1—5, Piscataway, NJ, USA, Apr. 2019, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [ArXiv], [Bibtex]Future in-vehicular networks will be based on Ethernet. The IEEE Time-Sensitive Networking (TSN) is a promising candidate to satisfy real-time requirements in future car communication. Software-Defined Networking (SDN) extends the Ethernet control plane with a programming option that can add much value to the resilience, security, and adaptivity of the automotive environment. In this work, we derive a first concept for combining Software-Defined Networking with Time-Sensitive Networking along with an initial evaluation. Our measurements are performed via a simulation that investigates whether an SDN architecture is suitable for time-critical applications in the car. Our findings indicate that the advanced control overhead of SDN can be added without a delay penalty for the TSN traffic when protocols are mapped properly.
@InProceedings{ hmks-snsti-19, author = {Timo H{\"a}ckel and Philipp Meyer and Franz Korf and Thomas C. Schmidt}, title = {{Software-Defined Networks Supporting Time-Sensitive In-Vehicular Communication}}, booktitle = {2019 IEEE 89th Vehicular Technology Conference (VTC2019-Spring)}, location = {Kuala Lumpur, Malaysia}, month = apr, year = 2019, pages = {1--5}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, issn = {1090-3038}, doi = {10.1109/VTCSpring.2019.8746473}, eprinttype = {arxiv}, eprint = {1903.08039}, keywords = {IEEE standards;local area networks;protocols;software defined networking;telecommunication traffic;vehicular ad hoc networks;future in-vehicular networks;real-time requirements;future car communication;Ethernet control plane;time-critical applications;software-defined networks;software-defined networking;time-sensitive in-vehicular communication;IEEE time-sensitive networking;programming option;SDN architecture;TSN traffic;Control systems;Real-time systems;Standards;Ethernet;Security;Automotive engineering;Robustness}, abstract = {Future in-vehicular networks will be based on Ethernet. The IEEE Time-Sensitive Networking (TSN) is a promising candidate to satisfy real-time requirements in future car communication. Software-Defined Networking (SDN) extends the Ethernet control plane with a programming option that can add much value to the resilience, security, and adaptivity of the automotive environment. In this work, we derive a first concept for combining Software-Defined Networking with Time-Sensitive Networking along with an initial evaluation. Our measurements are performed via a simulation that investigates whether an SDN architecture is suitable for time-critical applications in the car. Our findings indicate that the advanced control overhead of SDN can be added without a delay penalty for the TSN traffic when protocols are mapped properly.}, langid = {english} }
2018
- Sebastian Szancer, Philipp Meyer, and Franz Korf. Migration from SERCOS III to TSN - Simulation Based Comparison of TDMA and CBS Transportation. In: Proceedings of the 5th International OMNeT++ Community Summit. Pages 52—62, 2018, EasyChair,
[Abstract], [Online], [Fulltext Document (pdf)], [DOI], [Bibtex]The communication infrastructure of industrial plants, vehicles and many other appli- cations must provide more and more bandwidth, sometimes with strict timing requirements for the transmission of critical data. Time-Sensitive Networking (TSN) is a set of IEEE 802 Ethernet sub-standards that meet these requirements for a wide range of applications and communication requirements. Market relevance of TSN increases in different sectors. On the other hand, SERCOS III is an established Ethernet-based communication standard, which is used in particular in the field of industrial plants. With cost and limitations of SERCOS III in mind, this paper examines the migration from SERCOS III Time Division Multiple Access (TDMA) communication on the one side to Credit Based Shaping (CBS) communication on the other side. TSN supports both mechanisms. The analyses are per- formed with OMNeT++ simulation models. Migration recommendations are derived from the comparison of TDMA- and CBS-based transportation of SERCOS III traffic.
@InProceedings{ smk-mstst-18, author = {Sebastian Szancer and Philipp Meyer and Franz Korf}, editor = {Anna F\textbackslash{}"orster and Asanga Udugama and Antonio Virdis and Giovanni Nardini}, title = {Migration from SERCOS III to TSN - Simulation Based Comparison of TDMA and CBS Transportation}, booktitle = {Proceedings of the 5th International OMNeT++ Community Summit}, year = 2018, pages = {52--62}, volume = {56}, publisher = {EasyChair}, url = {https://easychair.org/publications/paper/ZJpT}, issn = {2398-7340}, doi = {10.29007/c5td}, abstract = {The communication infrastructure of industrial plants, vehicles and many other appli- cations must provide more and more bandwidth, sometimes with strict timing requirements for the transmission of critical data. Time-Sensitive Networking (TSN) is a set of IEEE 802 Ethernet sub-standards that meet these requirements for a wide range of applications and communication requirements. Market relevance of TSN increases in different sectors. On the other hand, SERCOS III is an established Ethernet-based communication standard, which is used in particular in the field of industrial plants. With cost and limitations of SERCOS III in mind, this paper examines the migration from SERCOS III Time Division Multiple Access (TDMA) communication on the one side to Credit Based Shaping (CBS) communication on the other side. TSN supports both mechanisms. The analyses are per- formed with OMNeT++ simulation models. Migration recommendations are derived from the comparison of TDMA- and CBS-based transportation of SERCOS III traffic.}, series = {EPiC Series in Computing}, bibsource = {EasyChair, https://easychair.org}, langid = {english} }
2016
- Till Steinbach, Philipp Meyer, Stefan Buschmann, and Franz Korf. Extending OMNeT++ Towards a Platform for the Design of Future In-Vehicle Network Architectures. In: Proceedings of the 3rd OMNeT++ Community Summit, Brno, Czech Republic, September 15, 2016. Sep. 2016, ArXiv e-prints,
[Fulltext Document (pdf)], [Slides (pdf)], [ArXiv], [Bibtex]@InProceedings{ smbk-eotpd-16, author = {Till Steinbach AND Philipp Meyer AND Stefan Buschmann AND Franz Korf}, editor = {Anna Foerster AND Vladim\'{i}r Vesely AND Antonio Virdis AND Michael Kirsche}, title = {Extending OMNeT++ Towards a Platform for the Design of Future In-Vehicle Network Architectures}, booktitle = {{Proceedings of the 3rd OMNeT++ Community Summit, Brno, Czech Republic, September 15, 2016}}, month = sep, year = 2016, publisher = {ArXiv e-prints}, eprinttype = {arxiv}, eprint = {1609.05179}, eprintclass = {cs.NI}, langid = {english} } - Ruben Jungnickel, Michael Köhler, and Franz Korf. Efficient Automotive Grid Maps using a Sensor Ray based Refinement Process. In: IEEE Intelligent Vehicles Symposium (IV). Pages 668—675, Piscataway, NJ, USA, Jun. 2016, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [Poster (pdf)], [DOI], [IEEE Xplore], [Bibtex]The occupancy grid mapping technique is widely used for environmental mapping of moving vehicles. Occupancy grid maps with fixed cell size have been extended using the quadtree implementation with adaptive cell size. Adaptive grid maps have proven to be more resource efficient than fixed cell size grid maps. Dynamic cell sizes introduce the necessity of a split and merge process to trigger the refinement of grid cells. This paper presents a novel ray-based refinement process in order to choose the appropriate resolution for the sensor observation. Based on measurement conflicts some approaches use an iterative refinement process until all conflicts are solved. In contrast this paper presents an non-iterative approach based on the sensor resolution. Using the measurement data efficiently we propose an algorithm, which solves the problem of partially free cells in an adaptive grid map. The proposed algorithm is compared against other widely used algorithms and methodologies.
@InProceedings{ jkk-eagms-16, author = {Ruben Jungnickel AND Michael K{\"o}hler AND Franz Korf}, title = {{Efficient Automotive Grid Maps using a Sensor Ray based Refinement Process}}, booktitle = {IEEE Intelligent Vehicles Symposium (IV)}, location = {Gotenburg, Sweden}, month = jun, year = 2016, pages = {668--675}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, doi = {10.1109/IVS.2016.7535459}, eprinttype = {ieeexplore}, eprint = {7535459}, abstract = {The occupancy grid mapping technique is widely used for environmental mapping of moving vehicles. Occupancy grid maps with fixed cell size have been extended using the quadtree implementation with adaptive cell size. Adaptive grid maps have proven to be more resource efficient than fixed cell size grid maps. Dynamic cell sizes introduce the necessity of a split and merge process to trigger the refinement of grid cells. This paper presents a novel ray-based refinement process in order to choose the appropriate resolution for the sensor observation. Based on measurement conflicts some approaches use an iterative refinement process until all conflicts are solved. In contrast this paper presents an non-iterative approach based on the sensor resolution. Using the measurement data efficiently we propose an algorithm, which solves the problem of partially free cells in an adaptive grid map. The proposed algorithm is compared against other widely used algorithms and methodologies.}, langid = {english} }
2015
- Till Steinbach, Philipp Meyer, Stefan Buschmann, Franz Korf, and Thomas C. Schmidt. Demo: Prototyping Next-Generation In-Car Backbones Using System-Level Network Simulation. In: 2015 IEEE Conference on Local Computer Networks (LCN). Oct. 2015,
[Abstract], [Fulltext Document (pdf)], [Poster (pdf)], [Bibtex]We show a network simulation environment for assessing Ethernet-based concepts and technologies of next generation in-car networks, as well as their protocols, and possible deployment. Among others, the simulation models contain the core concepts of AS6802 and AFDX, Ethernet AVB and IEEE 802.1Q as well as legacy fieldbus technologies like CAN and FlexRay and automotive gateway designs to interconnect the technologies. All modules can be flexibly configured and combined or used as a foundation for the implementation of new ideas. System-level network simulation allows us to design and evaluate backbone architectures and develop protocols and configurations that comply with the rigid real-time requirements of in-car communication. The shown tool chain is open source and can be downloaded for experiments and reviews of published simulation studies at http://core4inet.realmv6.org
@InProceedings{ smbks-pnibu-15, author = {Till Steinbach AND Philipp Meyer AND Stefan Buschmann AND Franz Korf AND Thomas C. Schmidt}, title = {{Demo: Prototyping Next-Generation In-Car Backbones Using System-Level Network Simulation}}, booktitle = {2015 IEEE Conference on Local Computer Networks (LCN)}, month = oct, year = 2015, abstract = {We show a network simulation environment for assessing Ethernet-based concepts and technologies of next generation in-car networks, as well as their protocols, and possible deployment. Among others, the simulation models contain the core concepts of AS6802 and AFDX, Ethernet AVB and IEEE 802.1Q as well as legacy fieldbus technologies like CAN and FlexRay and automotive gateway designs to interconnect the technologies. All modules can be flexibly configured and combined or used as a foundation for the implementation of new ideas. System-level network simulation allows us to design and evaluate backbone architectures and develop protocols and configurations that comply with the rigid real-time requirements of in-car communication. The shown tool chain is open source and can be downloaded for experiments and reviews of published simulation studies at http://core4inet.realmv6.org}, langid = {english} } - Till Steinbach, Hyung-Taek Lim, Franz Korf, Thomas C. Schmidt, Daniel Herrscher, and Adam Wolisz. Beware of the Hidden! How Cross-traffic Affects Quality Assurances of Competing Real-time Ethernet Standards for In-Car Communication. In: 2015 IEEE Conference on Local Computer Networks (LCN). Pages 1—9, Oct. 2015,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [Video of Presentation], [DOI], [IEEE Xplore], [Bibtex]Real-time Ethernet is expected to become the core technology of future in-car communication networks. Following its current adoption in subsystems for info- and entertainment, broadband Ethernet promises new features in the core of upcoming car series. Its full potential will enfold when deploying Ethernet-based backbones that consolidate all automotive domains on a single physical layer at increased bandwidth but reduced complexity and cost. In such a backbone, traffic with a variety of real-time requirements and best-effort characteristics will share the same physical infrastructure. However, certain applications like online diagnosis, data- or firmware updates, and access to off-board backends will introduce bursty high traffic loads to the sensitive core of the cars communication network. In this work, we analyze the robustness against cross-traffic of real-time Ethernet protocols. Based on a realistic in-car scenario, we demonstrate that background cross-traffic can have significant impact on in-car backbone networks—-even for real-time protocols with strict prioritization. By comparing the real-time approaches Ethernet AVBs asynchronous credit based shaping with the time-triggered and rate-constrained traffic classes of Time-triggered Ethernet (AS6802) we quantify how different media access policies suffer from low priority bursts of applications such as diagnosis, online updates or backend-based services. Our simulation study of a realistic in-car backbone design and traffic model reveals that in a realistic in-car network design, cross-traffic may increase end-to-end latency by more than 500% while the jitter can become 14 times higher than for a network without background tasks. We discuss ways to mitigate these degrading effects.
@InProceedings{ slksh-bhcan-15, author = {Till Steinbach AND Hyung-Taek Lim AND Franz Korf AND Thomas C. Schmidt AND Daniel Herrscher AND Adam Wolisz}, title = {{Beware of the Hidden! How Cross-traffic Affects Quality Assurances of Competing Real-time Ethernet Standards for In-Car Communication}}, booktitle = {2015 IEEE Conference on Local Computer Networks (LCN)}, month = oct, year = 2015, pages = {1--9}, isbn = {978-1-4673-6770-7}, doi = {10.1109/LCN.2015.7366277}, eprinttype = {ieeexplore}, eprint = {7366277}, abstract = {Real-time Ethernet is expected to become the core technology of future in-car communication networks. Following its current adoption in subsystems for info- and entertainment, broadband Ethernet promises new features in the core of upcoming car series. Its full potential will enfold when deploying Ethernet-based backbones that consolidate all automotive domains on a single physical layer at increased bandwidth but reduced complexity and cost. In such a backbone, traffic with a variety of real-time requirements and best-effort characteristics will share the same physical infrastructure. However, certain applications like online diagnosis, data- or firmware updates, and access to off-board backends will introduce bursty high traffic loads to the sensitive core of the cars communication network. In this work, we analyze the robustness against cross-traffic of real-time Ethernet protocols. Based on a realistic in-car scenario, we demonstrate that background cross-traffic can have significant impact on in-car backbone networks---even for real-time protocols with strict prioritization. By comparing the real-time approaches Ethernet AVBs asynchronous credit based shaping with the time-triggered and rate-constrained traffic classes of Time-triggered Ethernet (AS6802) we quantify how different media access policies suffer from low priority bursts of applications such as diagnosis, online updates or backend-based services. Our simulation study of a realistic in-car backbone design and traffic model reveals that in a realistic in-car network design, cross-traffic may increase end-to-end latency by more than 500\% while the jitter can become 14 times higher than for a network without background tasks. We discuss ways to mitigate these degrading effects.}, langid = {english}, note = {LCN Best Paper Award} }
2014
- Soeren Rumpf, Till Steinbach, Franz Korf, and Thomas C. Schmidt. Software Stacks for Mixed-critical Applications: Consolidating IEEE 802.1 AVB and Time-triggered Ethernet in Next-generation Automotive Electronics. In: 2014 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin). Pages 14—18, Piscataway, NJ, USA, 2014, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [DOI], [IEEE Xplore], [Bibtex]Real-time Ethernet variants are expected to build the future communication infrastructure in cars. First camera based driver assistance functions will communicate using IEEE 802.1 AVBs credit-based shaping. But for the strict timing requirements of automotive control-traffic, AVBs current timing guarantees are insufficient. The upcoming IEEE 802.1Qbv standard proposes synchronous time-triggered traffic to overcome these limitations. This paper presents a low footprint microcontroller based communication architecture, that supports both traffic classes in parallel while using standard hardware components. It allows first realistic performance analyses of coexistent traffic shaping strategies in a software based implementation.
@InProceedings{ rsks-ssmac-14, author = {Soeren Rumpf AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Software Stacks for Mixed-critical Applications: Consolidating IEEE 802.1 AVB and Time-triggered Ethernet in Next-generation Automotive Electronics}}, booktitle = {2014 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)}, location = {Berlin}, year = 2014, pages = {14--18}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4799-6165-8}, doi = {10.1109/ICCE-Berlin.2014.7034239}, eprinttype = {ieeexplore}, eprint = {7034239}, abstract = {Real-time Ethernet variants are expected to build the future communication infrastructure in cars. First camera based driver assistance functions will communicate using IEEE 802.1 AVBs credit-based shaping. But for the strict timing requirements of automotive control-traffic, AVBs current timing guarantees are insufficient. The upcoming IEEE 802.1Qbv standard proposes synchronous time-triggered traffic to overcome these limitations. This paper presents a low footprint microcontroller based communication architecture, that supports both traffic classes in parallel while using standard hardware components. It allows first realistic performance analyses of coexistent traffic shaping strategies in a software based implementation.}, langid = {english} } - Ruben Jungnickel, and Franz Korf. Object Tracking and Dynamic Estimation on Evidential Grids. In: 17th International IEEE Conference on Intelligent Transportation Systems (ITSC 2014). Pages 2310—2316, Piscataway, NJ, USA, 2014, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]Autonomous driving is one of the most challenging tasks of the automotive industry. As a subtask, the estimation of driveable and non driveable space is often solved by applying occupancy grids. The information about non driveable space can be used to improve object tracking. This paper presents an approach for object tracking and modelling in an occupancy grid map. Tracking objects on grid cells yields the advantage of a consistent environmental model on the occupancy grid map. We introduce the occupancy grid map as the only information source for the object tracking module. Taking advantage of the Dempster Shafer theory, a dynamic belief of conflicting cells can be estimated. This dynamic belief is then accumulated in a tracked object model. This is a grid based free form object model that uses detached grid cells to model vehicles in urban environment. We reduce false positives and initialization time by maintaining a dynamic belief for each object.
@InProceedings{ jk-otdee-14, author = {Ruben Jungnickel AND Franz Korf}, title = {{Object Tracking and Dynamic Estimation on Evidential Grids}}, booktitle = {17th International IEEE Conference on Intelligent Transportation Systems (ITSC 2014)}, location = {Qingdao, China}, year = 2014, pages = {2310--2316}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4799-6165-8}, doi = {10.1109/ITSC.2014.6958060}, eprinttype = {ieeexplore}, eprint = {6958060}, abstract = {Autonomous driving is one of the most challenging tasks of the automotive industry. As a subtask, the estimation of driveable and non driveable space is often solved by applying occupancy grids. The information about non driveable space can be used to improve object tracking. This paper presents an approach for object tracking and modelling in an occupancy grid map. Tracking objects on grid cells yields the advantage of a consistent environmental model on the occupancy grid map. We introduce the occupancy grid map as the only information source for the object tracking module. Taking advantage of the Dempster Shafer theory, a dynamic belief of conflicting cells can be estimated. This dynamic belief is then accumulated in a tracked object model. This is a grid based free form object model that uses detached grid cells to model vehicles in urban environment. We reduce false positives and initialization time by maintaining a dynamic belief for each object.}, langid = {english} } - Jan Kamieth, Till Steinbach, Franz Korf, and Thomas C. Schmidt. Design of TDMA-based In-Car Networks: Applying Multiprocessor Scheduling Strategies on Time-triggered Switched Ethernet Communication. In: 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2014). Pages 1—9, Piscataway, NJ, USA, 2014, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]Real-time Ethernet variants gain importance for communication infrastructure of various time-critical domains, such as in-car networks. Synchronous time-triggered traffic guarantees strict timing but requires a detailed schedule for all participants. Designing these schedules by hand is extensive work and with increasing network size almost impossible. In this paper, we contribute a mapping of the time-triggered network scheduling problem into the domain of multiprocessor scheduling. This set of transformation rules allows us to apply established scheduling algorithms as well as new strategies to organise time-triggered switched networks. Experimental results from a prototype implementation of a scheduling framework based on this mapping show the feasibility of our concept. The framework demonstrates a multiple solver approach that uses algorithms with different optimality criteria in parallel.
@InProceedings{ ksks-dtina-14, author = {Jan Kamieth AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Design of TDMA-based In-Car Networks: Applying Multiprocessor Scheduling Strategies on Time-triggered Switched Ethernet Communication}}, booktitle = {19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2014)}, location = {Barcelona}, year = 2014, pages = {1--9}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4799-4846-8}, doi = {10.1109/ETFA.2014.7005119}, eprinttype = {ieeexplore}, eprint = {7005119}, abstract = {Real-time Ethernet variants gain importance for communication infrastructure of various time-critical domains, such as in-car networks. Synchronous time-triggered traffic guarantees strict timing but requires a detailed schedule for all participants. Designing these schedules by hand is extensive work and with increasing network size almost impossible. In this paper, we contribute a mapping of the time-triggered network scheduling problem into the domain of multiprocessor scheduling. This set of transformation rules allows us to apply established scheduling algorithms as well as new strategies to organise time-triggered switched networks. Experimental results from a prototype implementation of a scheduling framework based on this mapping show the feasibility of our concept. The framework demonstrates a multiple solver approach that uses algorithms with different optimality criteria in parallel.}, langid = {english} } - Friedrich Groß, Till Steinbach, Franz Korf, Thomas C. Schmidt, and Bernd Schwarz. A Hardware/Software Co-Design Approach for Ethernet Controllers to Support Time-triggered Traffic in the Upcoming IEEE TSN Standards. In: 2014 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin). Pages 9—13, Piscataway, NJ, USA, 2014, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [DOI], [IEEE Xplore], [Bibtex]Due to the increasing bandwidth and timing requirements, next generation communication backbones in cars will most likely base on real-time Ethernet variants that satisfy the demands of the new automotive applications. The upcoming IEEE 802.1Qbv standard shows communication approaches based on coordinated time devision multiple access (TDMA) to be good candidates for providing communication with determinism and highly precise timing. Implementing time-triggered architectures in software requires significant development effort and computational power. This paper shows a scalable HW/SW co-design approach for new real-time Ethernet controllers based on the partitioning into communication and application components. The tasks required for communication are divided: Time-critical and computationally intensive parts are realised in dedicated hardware modules allowing the attached CPU to fulfil the timing requirements of the automotive application without interference. The evaluation using a Field Programmable Gate Array (FPGA) based prototype implementation shows that the precision for the time-triggered transmission and the performance of the proposed implementation of the required synchronisation protocols satisfies the requirements of applications in the automotive domain.
@InProceedings{ gskss-hscda-14, author = {Friedrich Gro{\ss} AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt AND Bernd Schwarz}, title = {{A Hardware/Software Co-Design Approach for Ethernet Controllers to Support Time-triggered Traffic in the Upcoming IEEE TSN Standards}}, booktitle = {2014 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)}, location = {Berlin}, year = 2014, pages = {9--13}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4799-6165-8}, doi = {10.1109/ICCE-Berlin.2014.7034229}, eprinttype = {ieeexplore}, eprint = {7034229}, abstract = {Due to the increasing bandwidth and timing requirements, next generation communication backbones in cars will most likely base on real-time Ethernet variants that satisfy the demands of the new automotive applications. The upcoming IEEE 802.1Qbv standard shows communication approaches based on coordinated time devision multiple access (TDMA) to be good candidates for providing communication with determinism and highly precise timing. Implementing time-triggered architectures in software requires significant development effort and computational power. This paper shows a scalable HW/SW co-design approach for new real-time Ethernet controllers based on the partitioning into communication and application components. The tasks required for communication are divided: Time-critical and computationally intensive parts are realised in dedicated hardware modules allowing the attached CPU to fulfil the timing requirements of the automotive application without interference. The evaluation using a Field Programmable Gate Array (FPGA) based prototype implementation shows that the precision for the time-triggered transmission and the performance of the proposed implementation of the required synchronisation protocols satisfies the requirements of applications in the automotive domain.}, langid = {english} } - Till Steinbach, Kai Müller, Franz Korf, and René Röllig. Real-time Ethernet In-Car Backbones: First Insights into an Automotive Prototype. In: 2014 IEEE Vehicular Networking Conference (VNC). Pages 137—138, Piscataway, NJ, USA, Dec. 2014, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]The communication infrastructure of today's automobiles forms a complex composition of heterogeneously interconnected components. At the same time, demands for higher bandwidth and low-latency communication are emerging from chassis control, camera based driver assistance and infotainment that cannot be accommodated by established technologies. A new approach towards a flexible highly scalable network is real-time Ethernet. The RECBAR research project develops and evaluates concepts and technologies for next-generation in-car backbones. In this demo we show a prototype based on a 2014 Volkswagen Golf 7 series car additionally equipped with high-bandwidth sensors, such as HD cameras and 3D laser scanners. The car uses a backbone network utilising time-triggered real-time Ethernet for the deterministic transmission of messages with hard real-time as well as rate-limiting and best-effort frames for messages with relaxed timing requirements. On the physical layer the setup utilises the OPEN Alliance 100Mbit/s BroadR-Reach (OABR or 100 BASE-T1) in addition to 100 BASE-TX.
@InProceedings{ smkr-reicb-14, author = {Till Steinbach AND Kai M{\"u}ller AND Franz Korf AND Ren{\'e} R{\"o}llig}, title = {{Real-time Ethernet In-Car Backbones: First Insights into an Automotive Prototype}}, booktitle = {2014 IEEE Vehicular Networking Conference (VNC)}, location = {Paderborn}, month = dec, year = 2014, pages = {137--138}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4799-7659-1}, issn = {2157-9865}, doi = {10.1109/VNC.2014.7013331}, eprinttype = {ieeexplore}, eprint = {7013331}, abstract = {The communication infrastructure of today's automobiles forms a complex composition of heterogeneously interconnected components. At the same time, demands for higher bandwidth and low-latency communication are emerging from chassis control, camera based driver assistance and infotainment that cannot be accommodated by established technologies. A new approach towards a flexible highly scalable network is real-time Ethernet. The RECBAR research project develops and evaluates concepts and technologies for next-generation in-car backbones. In this demo we show a prototype based on a 2014 Volkswagen Golf 7 series car additionally equipped with high-bandwidth sensors, such as HD cameras and 3D laser scanners. The car uses a backbone network utilising time-triggered real-time Ethernet for the deterministic transmission of messages with hard real-time as well as rate-limiting and best-effort frames for messages with relaxed timing requirements. On the physical layer the setup utilises the OPEN Alliance 100Mbit/s BroadR-Reach (OABR or 100 BASE-T1) in addition to 100 BASE-TX.}, langid = {english} } - Florian Bartols, Till Steinbach, Franz Korf, Bettina Buth, and Thomas C. Schmidt. Real-time Ethernet Residual Bus Simulation: A Model-Based Testing Approach for the Next-Generation In-Car Network. In: 22nd International Conference on Real-Time Networks and Systems (RTNS) 2014. Pages 267—276, New York, Oct. 2014, ACM-DL,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [DOI], [ACM DL], [Bibtex]The increasing complexity of automotive networks, their challenging timing constraints and their high bandwidth demands require new concepts for future in-car communication. Real-time Ethernet is meant to be a suitable candidate for the next-generation in-car interconnection. However, model-based testing capabilities must be available as well. Applications must be validated prior the first assembly, due to the distributed development process. Methods like residual bus simulation are of particular interest to allow for testing systems in early development stages by emulating unfinished or not available parts of the system. In this paper, we present a methodology and a feasibility study of a residual bus simulation in automotive real-time Ethernet systems. The challenges of applying this testing method in real-time Ethernet based networks with parallel packet transmission are outlined and compared to today's automotive bus system simulation approaches. Furthermore, the combination of different model-based testing techniques, that are not used in state-of-the-art commercial tools, are applied for the validation of non-functional timing requirements. An extension to an existing abstract test case model is proposed, which allows modelling temporal attributes. It is simultaneously used as simulation model to drive the residual bus simulation. We demonstrate the approach's feasibility by implementing a prototype residual bus simulator for real-time Ethernet networks and applying it to an example application.
@InProceedings{ bskbs-rerbs-14, author = {Florian Bartols AND Till Steinbach AND Franz Korf AND Bettina Buth AND Thomas C. Schmidt}, title = {{Real-time Ethernet Residual Bus Simulation: A Model-Based Testing Approach for the Next-Generation In-Car Network}}, booktitle = {22nd International Conference on Real-Time Networks and Systems (RTNS) 2014}, location = {Versailles, France}, month = oct, year = 2014, pages = {267--276}, publisher = {ACM-DL}, address = {New York}, isbn = {978-1-4503-2727-5}, doi = {10.1145/2659787.2659800}, eprinttype = {acmdl}, eprint = {2659800}, abstract = {The increasing complexity of automotive networks, their challenging timing constraints and their high bandwidth demands require new concepts for future in-car communication. Real-time Ethernet is meant to be a suitable candidate for the next-generation in-car interconnection. However, model-based testing capabilities must be available as well. Applications must be validated prior the first assembly, due to the distributed development process. Methods like residual bus simulation are of particular interest to allow for testing systems in early development stages by emulating unfinished or not available parts of the system. In this paper, we present a methodology and a feasibility study of a residual bus simulation in automotive real-time Ethernet systems. The challenges of applying this testing method in real-time Ethernet based networks with parallel packet transmission are outlined and compared to today's automotive bus system simulation approaches. Furthermore, the combination of different model-based testing techniques, that are not used in state-of-the-art commercial tools, are applied for the validation of non-functional timing requirements. An extension to an existing abstract test case model is proposed, which allows modelling temporal attributes. It is simultaneously used as simulation model to drive the residual bus simulation. We demonstrate the approach's feasibility by implementing a prototype residual bus simulator for real-time Ethernet networks and applying it to an example application.}, langid = {english}, series = {RTNS '14} } - Anna Förster, Christoph Sommer, Till Steinbach, and Matthias Wählisch. Proceedings of the 1st OMNeT++ Community Summit, Hamburg, Germany, September 2, 2014. Aug. 2014, ArXiv e-prints,
[ArXiv], [Bibtex]@Proceedings{ fssw-ocshg-14, editor = {Anna F{\"o}rster AND Christoph Sommer AND Till Steinbach AND Matthias W{\"a}hlisch}, title = {{Proceedings of the 1st OMNeT++ Community Summit, Hamburg, Germany, September 2, 2014}}, month = aug, year = 2014, publisher = {ArXiv e-prints}, eprinttype = {arxiv}, eprint = {1409.0093}, eprintclass = {cs.PF}, keywords = {Computer Science - Performance, I.6, C.2.0, C.4, D.4.8}, langid = {english} }
2013
- Philipp Meyer, Till Steinbach, Franz Korf, and Thomas C. Schmidt. Extending IEEE 802.1 AVB with Time-triggered Scheduling: A Simulation Study of the Coexistence of Synchronous and Asynchronous Traffic. In: 2013 IEEE Vehicular Networking Conference (VNC). Pages 47—54, Piscataway, NJ, USA, Dec. 2013, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]In-car networks based on Ethernet are expected to be the first choice for future applications in the domain of info- and entertainment. However, the full benefit of a technologically integrated in-car network will only become rewarding with an Ethernet-based backbone, unifying several automotive domains in a single infrastructure. Today, there is remarkable interest in the IEEE 802.1 Audio/Video Bridging (AVB) protocol suite, that provides end-to-end performance guarantees in Ethernet networks. But for the strict timing requirements of automotive control-traffic, these guarantees are too weak. An extension of Ethernet AVB with synchronous time-triggered traffic can overcome these limitations. In this paper, we investigate the coexistence of synchronous and asynchronous traffic by experimentally adding time-triggered messages to the credit-based shaper of AVB in a straightforward way. Based on simulations and analytical evaluations, we quantify the impact of such integration concepts for a reasonable design range. Our results demonstrate the feasibility of a shaping strategy with concurrent AVB and time-triggered message, but show a significant impact of the schedule design on the asynchronous AVB streams. Based on our findings, we provide recommendations for configurations that can improve end-to-end network performance for in-car applications by over 100 percent
@InProceedings{ msks-eatts-13, author = {Philipp Meyer AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Extending IEEE 802.1 AVB with Time-triggered Scheduling: A Simulation Study of the Coexistence of Synchronous and Asynchronous Traffic}}, booktitle = {2013 IEEE Vehicular Networking Conference (VNC)}, location = {Boston, Massachusetts}, month = dec, year = 2013, pages = {47--54}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4799-2686-2}, issn = {2157-9865}, doi = {10.1109/VNC.2013.6737589}, eprinttype = {ieeexplore}, eprint = {6737589}, abstract = {In-car networks based on Ethernet are expected to be the first choice for future applications in the domain of info- and entertainment. However, the full benefit of a technologically integrated in-car network will only become rewarding with an Ethernet-based backbone, unifying several automotive domains in a single infrastructure. Today, there is remarkable interest in the IEEE 802.1 Audio/Video Bridging (AVB) protocol suite, that provides end-to-end performance guarantees in Ethernet networks. But for the strict timing requirements of automotive control-traffic, these guarantees are too weak. An extension of Ethernet AVB with synchronous time-triggered traffic can overcome these limitations. In this paper, we investigate the coexistence of synchronous and asynchronous traffic by experimentally adding time-triggered messages to the credit-based shaper of AVB in a straightforward way. Based on simulations and analytical evaluations, we quantify the impact of such integration concepts for a reasonable design range. Our results demonstrate the feasibility of a shaping strategy with concurrent AVB and time-triggered message, but show a significant impact of the schedule design on the asynchronous AVB streams. Based on our findings, we provide recommendations for configurations that can improve end-to-end network performance for in-car applications by over 100 percent}, langid = {english} } - Lazar T. Todorov, Till Steinbach, Franz Korf, and Thomas C. Schmidt. Evaluating Requirements of High Precision Time Synchronisation Protocols using Simulation. In: Proceedings of the 6th International ICST Conference on Simulation Tools and Techniques. Pages 307—313, New York, Mar. 2013, ACM-DL,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [ACM DL], [Bibtex]High precision time synchronisation protocols are used in distributed real-time systems such as trains, planes, cars or industrial installations. In time-triggered systems, with a coordinated time division multiple access media allocation strategy, the achievable precision of time synchronisation among sending participants determines the quality of communication and the available bandwidth. The simulation of time synchronisation protocols allows to find problems at the earliest time — in general, during the design and configuration — of a synchronised distributed system. In this work we show a concept for the simulation of distributed real-time synchronisation protocols that uses discrete event-based simulation. Our model for the OMNeT++ Framework is adaptable and thus allows for providing highly accurate results or fast simulations. The precise simulation of a real-time synchronisation protocol usually consumes considerable simulation time. This paper presents an approach to speed up accurate simulation, based on recordings of previous runs. We evaluate typical real-world use cases for the introduced concept by simulating the AS6802 standard for time synchronisation. Our results show that the simulation can help to reduce the effort of determining configuration parameters for clock synchronisation protocols. We further quantify the performance increase of our evolutionary approach.
@InProceedings{ tsks-erhpt-13, author = {Lazar T. Todorov AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Evaluating Requirements of High Precision Time Synchronisation Protocols using Simulation}}, booktitle = {Proceedings of the 6th International ICST Conference on Simulation Tools and Techniques}, location = {Cannes, France}, month = mar, year = 2013, pages = {307--313}, publisher = {ACM-DL}, address = {New York}, isbn = {978-1-4503-2464-9}, eprinttype = {acmdl}, eprint = {2512778}, abstract = {High precision time synchronisation protocols are used in distributed real-time systems such as trains, planes, cars or industrial installations. In time-triggered systems, with a coordinated time division multiple access media allocation strategy, the achievable precision of time synchronisation among sending participants determines the quality of communication and the available bandwidth. The simulation of time synchronisation protocols allows to find problems at the earliest time -- in general, during the design and configuration -- of a synchronised distributed system. In this work we show a concept for the simulation of distributed real-time synchronisation protocols that uses discrete event-based simulation. Our model for the OMNeT++ Framework is adaptable and thus allows for providing highly accurate results or fast simulations. The precise simulation of a real-time synchronisation protocol usually consumes considerable simulation time. This paper presents an approach to speed up accurate simulation, based on recordings of previous runs. We evaluate typical real-world use cases for the introduced concept by simulating the AS6802 standard for time synchronisation. Our results show that the simulation can help to reduce the effort of determining configuration parameters for clock synchronisation protocols. We further quantify the performance increase of our evolutionary approach.}, langid = {english} } - Stefan Buschmann, Till Steinbach, Franz Korf, and Thomas C. Schmidt. Simulation based Timing Analysis of FlexRay Communication at System Level. In: Proceedings of the 6th International ICST Conference on Simulation Tools and Techniques. Pages 285—290, New York, Mar. 2013, ACM-DL,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [ACM DL], [Bibtex]In modern cars the communication infrastructure consists of different application specific bus systems that are interconnected with each other. Due to the growing complexity of the communication infrastructure, the corresponding timing analysis at system level is currently a hot topic in the automotive industry. FlexRay is a state-of-the-art fieldbus for cars. While FlexRay simulations below system level are already established in automotive tool chains, FlexRay system level simulation is not yet common. This paper focuses on simulation-based timing analyses for FlexRay communication. Based on different scenarios the practical relevance is shown. The performance results promise that our simulation approach is a good building block for the simulation of heterogeneous communication consisting of several bus systems and technologies. An evaluation of the simulation results in comparison with the CANoe network simulator proves the conformance of the implementation with the FlexRay specification.
@InProceedings{ bsks-stafc-13, author = {Stefan Buschmann AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Simulation based Timing Analysis of FlexRay Communication at System Level}}, booktitle = {Proceedings of the 6th International ICST Conference on Simulation Tools and Techniques}, location = {Cannes, France}, month = mar, year = 2013, pages = {285--290}, publisher = {ACM-DL}, address = {New York}, isbn = {978-1-4503-2464-9}, eprinttype = {acmdl}, eprint = {2512775}, abstract = {In modern cars the communication infrastructure consists of different application specific bus systems that are interconnected with each other. Due to the growing complexity of the communication infrastructure, the corresponding timing analysis at system level is currently a hot topic in the automotive industry. FlexRay is a state-of-the-art fieldbus for cars. While FlexRay simulations below system level are already established in automotive tool chains, FlexRay system level simulation is not yet common. This paper focuses on simulation-based timing analyses for FlexRay communication. Based on different scenarios the practical relevance is shown. The performance results promise that our simulation approach is a good building block for the simulation of heterogeneous communication consisting of several bus systems and technologies. An evaluation of the simulation results in comparison with the CANoe network simulator proves the conformance of the implementation with the FlexRay specification.}, langid = {english} } - Oleg Karfich, Florian Bartols, Till Steinbach, Franz Korf, and Thomas C. Schmidt. A Hardware/Software Platform for Real-time Ethernet Cluster Simulation in OMNeT++. In: Proceedings of the 6th International ICST Conference on Simulation Tools and Techniques. Pages 334—337, New York, Mar. 2013, ACM-DL,
[Abstract], [Fulltext Document (pdf)], [Poster (pdf)], [Slides (pdf)], [ACM DL], [Bibtex]Cluster simulation is a popular method for supporting system integration in various distributed applications by simulating the environment of a subsystem under test. Particularly in real-time systems, the timing requirements of transmission and reception must be fulfilled, which is not easy to achieve. In this paper, we contribute a scheme for cluster simulation of real-time Ethernet (RTEthernet) based distributed systems. It relies on the discrete event-based simulation framework OMNeT++, interconnected with an ARM-based co-processor. Our approach allows coupling a real-world RTEthernet subsystem with virtual components running in the discrete simulation, that realise the required behaviour for the subsystem. We have evaluated the performance limits of our approach regarding latency and jitter, when running the simulation on a Linux system with the real-time Kernel patch. The results show that the timing requirements for the cluster simulation of small RTEthernet networks can be achieved.
@InProceedings{ ksbks-hspre-13, ids = {ksbks-eifre-13}, author = {Oleg Karfich AND Florian Bartols AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{A Hardware/Software Platform for Real-time Ethernet Cluster Simulation in OMNeT++}}, booktitle = {Proceedings of the 6th International ICST Conference on Simulation Tools and Techniques}, location = {Cannes, France}, month = mar, year = 2013, pages = {334--337}, publisher = {ACM-DL}, address = {New York}, isbn = {978-1-4503-2464-9}, eprinttype = {acmdl}, eprint = {2512782}, abstract = {Cluster simulation is a popular method for supporting system integration in various distributed applications by simulating the environment of a subsystem under test. Particularly in real-time systems, the timing requirements of transmission and reception must be fulfilled, which is not easy to achieve. In this paper, we contribute a scheme for cluster simulation of real-time Ethernet (RTEthernet) based distributed systems. It relies on the discrete event-based simulation framework OMNeT++, interconnected with an ARM-based co-processor. Our approach allows coupling a real-world RTEthernet subsystem with virtual components running in the discrete simulation, that realise the required behaviour for the subsystem. We have evaluated the performance limits of our approach regarding latency and jitter, when running the simulation on a Linux system with the real-time Kernel patch. The results show that the timing requirements for the cluster simulation of small RTEthernet networks can be achieved.}, langid = {english} }
2012
- Giuliana Alderisi, Alfio Caltabiano, Giancarlo Vasta, Giancarlo Iannizzotto, Till Steinbach, and Lucia Lo Bello. Simulative Assessments of IEEE 802.1 Ethernet AVB and Time-Triggered Ethernet for Advanced Driver Assistance Systems and In-Car Infotainment. In: 2012 IEEE Vehicular Networking Conference (VNC),. Pages 187—194, Piscataway, NJ, USA, Nov. 2012, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]Investigations into the usage of Ethernet in automobiles is in progress in academia, the car industry and companies producing automotive electronic devices. The interest in Ethernet is motivated by the high bandwidth and scalability provided. It is a well experienced technology with support for the Internet Protocol (IP) suite. Ethernet as in-car network is expected to breakthrough in Advanced Driver Assistance Systems (ADAS) involving cameras and in the multimedia domain. Both the IEEE Audio Video Bridging (AVB) standard and Time-Triggered Ethernet (TTE) are promising candidates. This paper presents a simulation study aimed to investigate the behavior of these technologies when supporting ADAS and multimedia traffic on star-based networks under varying workload. The performance under different operating conditions is presented and discussed.
@InProceedings{ acvis-saeat-12, author = {Giuliana Alderisi AND Alfio Caltabiano AND Giancarlo Vasta AND Giancarlo Iannizzotto AND Till Steinbach AND Lucia Lo Bello}, title = {{Simulative Assessments of IEEE 802.1 Ethernet AVB and Time-Triggered Ethernet for Advanced Driver Assistance Systems and In-Car Infotainment}}, booktitle = {2012 IEEE Vehicular Networking Conference (VNC),}, month = nov, year = 2012, pages = {187--194}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4673-4996-3}, issn = {2157-9857}, doi = {10.1109/VNC.2012.6407430}, eprinttype = {ieeexplore}, eprint = {6407430}, abstract = {Investigations into the usage of Ethernet in automobiles is in progress in academia, the car industry and companies producing automotive electronic devices. The interest in Ethernet is motivated by the high bandwidth and scalability provided. It is a well experienced technology with support for the Internet Protocol (IP) suite. Ethernet as in-car network is expected to breakthrough in Advanced Driver Assistance Systems (ADAS) involving cameras and in the multimedia domain. Both the IEEE Audio Video Bridging (AVB) standard and Time-Triggered Ethernet (TTE) are promising candidates. This paper presents a simulation study aimed to investigate the behavior of these technologies when supporting ADAS and multimedia traffic on star-based networks under varying workload. The performance under different operating conditions is presented and discussed.}, langid = {english} } - Till Steinbach, Hyung-Taek Lim, Franz Korf, Thomas C. Schmidt, Daniel Herrscher, and Adam Wolisz. Tomorrow's In-Car Interconnect? A Competitive Evaluation of IEEE 802.1 AVB and Time-Triggered Ethernet (AS6802). In: 2012 IEEE Vehicular Technology Conference (VTC Fall). Piscataway, NJ, USA, Sep. 2012, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [DOI], [IEEE Xplore], [Bibtex]Ethernet-based in-car communication is currently a hot topic in the automotive industry. Soon Ethernet will start to oust MOST bus in its domain of info- and entertainment applications. However, the full benefit of a technologically integrated in-car network will only become rewarding with the deployment of an Ethernet-based backbone that integrates all automotive domains on a single layer at increased bandwidth, reduced complexity and cost, while opening car intelligence for future innovations. Such backbone must transport critical control data in real-time. Standard Ethernet requires extensions to comply with the strict timing requirements of driver assistance and safety applications while simultaneously supporting broadband multimedia traffic. In this paper, we compare IEEE 802.1 AVB and Time-triggered Ethernet, two competing real-time approaches. While the first fosters over- provisioning and prioritisation, the second is based on a coordinated time-division-multiple-access (TDMA) policy for media access. By simulating a realistic in-car backbone design and traffic model, we reveal the strengths and weaknesses of both protocols and point to the diverging characteristics of event- and time-triggered policies. Our results show that in this in-car network scenario both protocols are able to meet the rigid timing requirements, while each has its unique benefits and disadvantages.
@InProceedings{ slksh-tiice-12, author = {Till Steinbach AND Hyung-Taek Lim AND Franz Korf AND Thomas C. Schmidt AND Daniel Herrscher AND Adam Wolisz}, title = {{Tomorrow's In-Car Interconnect? A Competitive Evaluation of IEEE 802.1 AVB and Time-Triggered Ethernet (AS6802)}}, booktitle = {2012 IEEE Vehicular Technology Conference (VTC Fall)}, month = sep, year = 2012, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, issn = {1090-3038}, doi = {10.1109/VTCFall.2012.6398932}, eprinttype = {ieeexplore}, eprint = {6398932}, abstract = {Ethernet-based in-car communication is currently a hot topic in the automotive industry. Soon Ethernet will start to oust MOST bus in its domain of info- and entertainment applications. However, the full benefit of a technologically integrated in-car network will only become rewarding with the deployment of an Ethernet-based backbone that integrates all automotive domains on a single layer at increased bandwidth, reduced complexity and cost, while opening car intelligence for future innovations. Such backbone must transport critical control data in real-time. Standard Ethernet requires extensions to comply with the strict timing requirements of driver assistance and safety applications while simultaneously supporting broadband multimedia traffic. In this paper, we compare IEEE 802.1 AVB and Time-triggered Ethernet, two competing real-time approaches. While the first fosters over- provisioning and prioritisation, the second is based on a coordinated time-division-multiple-access (TDMA) policy for media access. By simulating a realistic in-car backbone design and traffic model, we reveal the strengths and weaknesses of both protocols and point to the diverging characteristics of event- and time-triggered policies. Our results show that in this in-car network scenario both protocols are able to meet the rigid timing requirements, while each has its unique benefits and disadvantages.}, langid = {english} }
2011
- Till Steinbach, Franz Korf, and Thomas C. Schmidt. Real-time Ethernet for Automotive Applications: A Solution for Future In-Car Networks. In: 2011 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin). Pages 216—220, Piscataway, NJ, USA, Sep. 2011, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]Data networks of today's automobiles form a complex conglomerate of heterogeneously interconnected components. At the same time, high additional demands for future in-car communication systems are emerging from chassis control, camera based driver assistance and infotainment that cannot be accommodated by established technologies. A new approach towards a flexible highly scalable in-car network is real-time Ethernet. In this paper we discuss the upcoming requirements and argue why current in-car network designs are not suitable for future tasks. By demonstrating how a camera based time-critical driver assistance application can be integrated into a real-time Ethernet based in-car network, we present a typical use case for automotive broadband real-time communication and show application related design and configuration decisions.
@InProceedings{ sks-reaas-11, author = {Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Real-time Ethernet for Automotive Applications: A Solution for Future In-Car Networks}}, booktitle = {2011 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)}, location = {Berlin}, month = sep, year = 2011, pages = {216--220}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4577-0233-4}, doi = {10.1109/ICCE-Berlin.2011.6031843}, eprinttype = {ieeexplore}, eprint = {6031843}, abstract = {Data networks of today's automobiles form a complex conglomerate of heterogeneously interconnected components. At the same time, high additional demands for future in-car communication systems are emerging from chassis control, camera based driver assistance and infotainment that cannot be accommodated by established technologies. A new approach towards a flexible highly scalable in-car network is real-time Ethernet. In this paper we discuss the upcoming requirements and argue why current in-car network designs are not suitable for future tasks. By demonstrating how a camera based time-critical driver assistance application can be integrated into a real-time Ethernet based in-car network, we present a typical use case for automotive broadband real-time communication and show application related design and configuration decisions.}, langid = {english} } - Kai Müller, Till Steinbach, Franz Korf, and Thomas C. Schmidt. A Real-time Ethernet Prototype Platform for Automotive Applications. In: 2011 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin). Pages 221—225, Piscataway, NJ, USA, Sep. 2011, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [DOI], [IEEE Xplore], [Bibtex]The increasing number of driver assistance, infotainment and entertainment systems in automobiles results in higher requirements for bandwidth, fault tolerance and timing behaviour concerning the in-vehicle communication structure. In future, in-vehicle networks based on current technologies will reach their limits due to insufficient scalability and complexity. Real-time (RT) Ethernet is a new, scalable approach to reduce the complexity of these networks significantly. This paper demonstrates the architecture of a RT Ethernet prototype platform based on an ARM centred system-on-chip, which achieves timing and bandwidth characteristics of a typical future automotive application. It is based on an advanced interrupt driven architecture.
@InProceedings{ msks-reppa-11, author = {Kai M{\"u}ller AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{A Real-time Ethernet Prototype Platform for Automotive Applications}}, booktitle = {2011 IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)}, location = {Berlin}, month = sep, year = 2011, pages = {221--225}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4577-0233-4}, doi = {10.1109/ICCE-Berlin.2011.6031866}, eprinttype = {ieeexplore}, eprint = {6031866}, abstract = {The increasing number of driver assistance, infotainment and entertainment systems in automobiles results in higher requirements for bandwidth, fault tolerance and timing behaviour concerning the in-vehicle communication structure. In future, in-vehicle networks based on current technologies will reach their limits due to insufficient scalability and complexity. Real-time (RT) Ethernet is a new, scalable approach to reduce the complexity of these networks significantly. This paper demonstrates the architecture of a RT Ethernet prototype platform based on an ARM centred system-on-chip, which achieves timing and bandwidth characteristics of a typical future automotive application. It is based on an advanced interrupt driven architecture.}, langid = {english} } - Till Steinbach, Hermand Dieumo Kenfack, Franz Korf, and Thomas C. Schmidt. An Extension of the OMNeT++ INET Framework for Simulating Real-time Ethernet with High Accuracy. In: Proceedings of the 4th International ICST Conference on Simulation Tools and Techniques. Pages 375—382, New York, Mar. 2011, ACM-DL,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [ACM DL], [Bibtex]Real-time extensions to standard switched Ethernet widen the realm of computer networking into the time-critical domain. These technologies have started to establish in process automation, while Ethernet-based communication infrastructures in vehicles are novel and challenged by particularly hard real-time constraints. Simulation tools are of vital importance to explore the technical feasibility and facilitate the distributed process of vehicle infrastructure design. This paper introduces an extension of the OMNeT++ INET framework for simulating real-time Ethernet with high temporal accuracy. Our module implements the TTEthernet protocol, a real-time extension to standard Ethernet that is proposed for standardisation. We present the major implementation aspects of the simulation model and apply our tool to an abstract in-vehicle backbone. A careful evaluation that compares our results with calculations obtained from a mathematical framework, as well as with real-world measurements using TTEthernet hardware shows simulation and reality in good agreement.
@InProceedings{ sdkks-eifre-11, author = {Till Steinbach AND Hermand {Dieumo Kenfack} AND Franz Korf AND Thomas C. Schmidt}, title = {{An Extension of the OMNeT++ INET Framework for Simulating Real-time Ethernet with High Accuracy}}, booktitle = {Proceedings of the 4th International ICST Conference on Simulation Tools and Techniques}, location = {Barcelona, Spain}, month = mar, year = 2011, pages = {375--382}, publisher = {ACM-DL}, address = {New York}, isbn = {978-1-936968-00-8}, eprinttype = {acmdl}, eprint = {2151120}, abstract = {Real-time extensions to standard switched Ethernet widen the realm of computer networking into the time-critical domain. These technologies have started to establish in process automation, while Ethernet-based communication infrastructures in vehicles are novel and challenged by particularly hard real-time constraints. Simulation tools are of vital importance to explore the technical feasibility and facilitate the distributed process of vehicle infrastructure design. This paper introduces an extension of the OMNeT++ INET framework for simulating real-time Ethernet with high temporal accuracy. Our module implements the TTEthernet protocol, a real-time extension to standard Ethernet that is proposed for standardisation. We present the major implementation aspects of the simulation model and apply our tool to an abstract in-vehicle backbone. A careful evaluation that compares our results with calculations obtained from a mathematical framework, as well as with real-world measurements using TTEthernet hardware shows simulation and reality in good agreement.}, langid = {english} } - Florian Bartols, Till Steinbach, Franz Korf, and Thomas C. Schmidt. Performance Analysis of Time-Triggered Ether-Networks Using Off-the-Shelf-Components. In: 14th IEEE International Symposium on Object\addslash Component\addslash Service-Oriented Real-Time Distributed Computing Workshops (ISORCW) 2011. Pages 49—56, Piscataway, NJ, USA, Mar. 2011, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [Slides (pdf)], [DOI], [IEEE Xplore], [Bibtex]The performance analysis and validation of distributed real-time systems poses significant challenges due to high accuracy requirements at the measurement tools. A fully synchronized time-scale at ultrafine granularity is not easy to generate. Even though there are several analyzer tools for standard switched Ethernet, these tools cannot be applied in time-triggered networks, since they do not meet the requirements of synchronized packet generation. This paper introduces a low cost and lightweight approach to measure end-to-end latency of time-triggered Ethernet traffic with off-the-shelf components. By using standard computer hardware and a real-time Linux Kernel, it is shown that measurement can be achieved in a resolution of microseconds. Furthermore, a validation with an Ethernet performance analyzer and a mathematical framework is presented to check the given results.
@InProceedings{ bsks-pateo-10, author = {Florian Bartols AND Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Performance Analysis of Time-Triggered Ether-Networks Using Off-the-Shelf-Components}}, booktitle = {14th IEEE International Symposium on Object\addslash Component\addslash Service-Oriented Real-Time Distributed Computing Workshops (ISORCW) 2011}, location = {Newport Beach}, month = mar, year = 2011, pages = {49--56}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, isbn = {978-1-4577-0303-4}, doi = {10.1109/ISORCW.2011.16}, eprinttype = {ieeexplore}, eprint = {5753511}, abstract = {The performance analysis and validation of distributed real-time systems poses significant challenges due to high accuracy requirements at the measurement tools. A fully synchronized time-scale at ultrafine granularity is not easy to generate. Even though there are several analyzer tools for standard switched Ethernet, these tools cannot be applied in time-triggered networks, since they do not meet the requirements of synchronized packet generation. This paper introduces a low cost and lightweight approach to measure end-to-end latency of time-triggered Ethernet traffic with off-the-shelf components. By using standard computer hardware and a real-time Linux Kernel, it is shown that measurement can be achieved in a resolution of microseconds. Furthermore, a validation with an Ethernet performance analyzer and a mathematical framework is presented to check the given results.}, langid = {english} }
2010
- Till Steinbach, Franz Korf, and Thomas C. Schmidt. Comparing Time-Triggered Ethernet with FlexRay: An Evaluation of Competing Approaches to Real-time for In-Vehicle Networks. In: 8th IEEE Intern. Workshop on Factory Communication Systems. Pages 199—202, Piscataway, NJ, USA, May. 2010, IEEE Press,
[Abstract], [Fulltext Document (pdf)], [Poster (pdf)], [DOI], [IEEE Xplore], [Bibtex]FlexRay is considered the next generation state-of-the-art technology for in-car networks, while time-triggered Ethernet emerges with the promise to integrate real-time and best-effort traffic into one homogeneous backbone. This paper contributes a competitive analysis of FlexRay and time-triggered Ethernet. By showing that it is possible to transfer a fully utilized FlexRay system, to a system based on time-triggered Ethernet, it is demonstrated that time-triggered Ethernet is a suitable replacement of current in-vehicle bus-systems. Further it is shown that a switched system has advantages in bandwidth utilization over a shared bus, when using group communication.
@InProceedings{ sks-ctefe-10, author = {Till Steinbach AND Franz Korf AND Thomas C. Schmidt}, title = {{Comparing Time-Triggered Ethernet with FlexRay: An Evaluation of Competing Approaches to Real-time for In-Vehicle Networks}}, booktitle = {8th IEEE Intern. Workshop on Factory Communication Systems}, location = {Nancy-France}, month = may, year = 2010, pages = {199--202}, publisher = {IEEE Press}, address = {Piscataway, NJ, USA}, doi = {10.1109/WFCS.2010.5548606}, eprinttype = {ieeexplore}, eprint = {5548606}, abstract = {FlexRay is considered the next generation state-of-the-art technology for in-car networks, while time-triggered Ethernet emerges with the promise to integrate real-time and best-effort traffic into one homogeneous backbone. This paper contributes a competitive analysis of FlexRay and time-triggered Ethernet. By showing that it is possible to transfer a fully utilized FlexRay system, to a system based on time-triggered Ethernet, it is demonstrated that time-triggered Ethernet is a suitable replacement of current in-vehicle bus-systems. Further it is shown that a switched system has advantages in bandwidth utilization over a shared bus, when using group communication.}, langid = {english} }