Automotive Gateways: Bridge & Gateway From Flexray/Can/Lin To Avb Networks
Automotive Gateways: Bridge & Gateway From Flexray/Can/Lin To Avb Networks
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1
Content
Gateways in current/future architectures
FlexRay
CGW
MOST
Ethernet
Central
CGW Gateway
Domain
DCU Control Unit
SW Switch
Today
CGW SW SW
SW
Mid-term
Long-term
Characteristics of different GW types*
No. of interfaces No. of GWs Diagnostic Comments
per vehicle interface
Central GW any no. of <= 1 x Increasing
LIN/CAN/FR no. of itfs.
Local GW 1 x domain bus itf. >= 0 -
n x subdomain bus
itfs.
Domain GW 1 x domain bus itf. >= 0 possible
1-2 x backbone itf.
GW with any no. of >= 0 possible
integrated LIN/CAN/FR/Eth
Switch
* From the EE architecture point of view
Main GW functions
(Routing, Diagnostic, …)
6
Routing Features
• Message Routing
• Packet Routing
• Signal Routing (eventually with signal processing)
• Routing with High Priority
• Different sorts of rate adaption between received and
transmitted message, e.g.
Periodic & Immediate Transmit On Change (TOC)
New Msg Data
SOURCE
t
tCycle_S
TOC Msg
DESTINATION
• Diagnostic Routing
7
Other Gateway Functions
• Nominal-actual configuration comparison
Components
ECU_1
ECU_2
ECU_3
ECU_4
• Diagnostic tester
……
Configuration
Actual 1 0 0 1 …
• Flash function
• Network management
Application
Signal Security Signal
Software
GatewaySDU Gateway
Tunnel
Gateway
Transport
Gateway SDU
L3/4 Gateway
CPU Security
Memory I-PDUs
(Software) (Hardware)
Queues
Queues
Output
Input
CPU Bus queue
… schedule
CC
CC1..n
1..n NIC
Transpor De-capsulation,
t Encapsulation CPU
L2 Software
Ethernet MAC
ECU Bus/Interfaces PDUs
Bridge Security
MACSec
RBUF … TBUF
bus
schedule
CC
CC
Automotive Ethernet
Hardware
Hardware
Actuator
Senso ECU ECU
r
Actuator Sensor
Source: ETAS
CAN Bus FlexRay Bus
Notes:
IL = Interaction Layer according OSEK Comms 3.03 and AUTOSAR; adopts
11 messages/signals to PDUs
AUTOSAR Aspects
App 1 … App n Signal
Process
Signal GW
Frame GW
Internet Protocol
internal
external cabling domain
CAN Bus Ethernet Ethernet
Ethernet header
AVTP control stream data header
Packet info
LIN/CAN/FR message 1*
…
LIN/CAN/FR message n*
The FlexRay PDU consists of a control stream PDU and one or more FlexRay messages
Source: IEEE 1722a/D3
1722a CAN PDU Format
The CAN extended PDU consists of a control stream PDU and one or more CAN extended
messages Source: IEEE 1722a/D3
1722a LIN PDU Format
The LIN PDU consists of a control stream PDU and one or more LIN messages
Source: IEEE 1722a/D3
ETAS Contribution to IEEE 1722a
LIN/CAN/FR PDU Format
GW
Network Msg RC Msg TX Msg Network
A Buffer Buffer B
Converged data
SMR
Converged data
GW1
GW2
AFS SML
BCMR
TRM
BCMF
GW DCUL
Legende:
Zone oriented architecture makes use of Ethernet Video camera
backbone (which connects all main areas of the vehicle) GWx Gateway + Switch
XYZ ECU
Inside the zone CAN/LIN networks Ethernet
Ethernet AVB ensures data type convergence on CAN (FD)
backbone
Thank you!