Automotive Gateways

Bridge & Gateway from FlexRay/CAN/LIN to AVB Networks

[email protected]
1
 Content
Gateways in current/future architectures

Main GW functions (Routing, Diagnostic, …)

Main principles of GW’s functionality (SW aspects,

protocol aspects, AUTOSAR aspects)

LIN/CAN/FlexRay 2 Ethernet transport mechanisms

(1722a)

GW performance aspects

Ethernet GW/Switch in future EE architectures

 Gateways in current/future
architectures
3
Transition from Central Gateway to Backbone Arch
CAN (FD)
LIN

FlexRay
CGW
MOST

Ethernet
Central
CGW Gateway
Domain
DCU Control Unit

SW Switch
Today

CGW SW SW

SW

Mid-term

DCU DCU DCU SW SW

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

• Y Routing tCycle_D tGDelay

• Diagnostic Routing
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 Other Gateway Functions
• Nominal-actual configuration comparison
Components

ECU_1

ECU_2

ECU_3

ECU_4
• Diagnostic tester

……
Configuration

– CAN and Ethernet interface provided Nominal 1 1 0 1 …

Actual 1 0 0 1 …

• Flash function

• Message mirroring on diagnostic bus

• Network management

• OEM specific features

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 Main principles of GW’s functionality
(SW aspects, protocol aspects,
AUTOSAR aspects)
9
 State of the Art: Software Gateway in
Central Processing Unit (CPU)
Application
Software

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

ECU Bus Source: ETAS

 Gateway Protocol Stack Overview
Sensor/Actuato Gateway ECU
r Actuator/Senso
APP APP
SIGNAL GW APP r
APP
Signal Signal Signal
IL IL
SDU GW IL
TP TP
L3TP GW TP Phy
CAN CAN FLX FLX
Phy Phy Phy Phy

external cabling domain

CAN Bus FlexRay Bus Discrete

Sensor Gateway Actuator

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

• Message Routing performed in the PDU Router

• Signal Routing performed in AUTOSAR COM
• Signal Processing performed in Apps 12
 LIN/CAN/FlexRay 2 Ethernet
transport mechanisms (1722a)
 Gateway Protocol Stack
with 1722 Tunneling
Sensor Gateway ECU/Gateway

Sensor APP SIGNAL GW APP

Signal Signal Signal
IL IL SDU GW IL
TP TP L3TP GW TP
CAN CAN CAN* CAN*
Phy Phy P1722 TUNNEL GW L2TP GW P1722
MAC-Relay
802.1Q x 802.1Q x
802.3 802.3802.1Q x802.3 802.3
MAC MAC MAC MAC
PHY PHY PHY PHY

internal
external cabling domain
CAN Bus Ethernet Ethernet

Gateway Gateway Gateway

Sens Actuato Sens Actuato
or r or r
Actuato
Sens
r ECU ECU ECU
or
Actuato Sens Actuato Sens
r or r or Source: ETAS
CAN Bus FlexRay Bus
 1722a Ctrl Stream Data
Generic Frame Format

Ethernet header
AVTP control stream data header
Packet info
LIN/CAN/FR message 1*
…
LIN/CAN/FR message n*

* only messages of the same type allowed in one frame

 1722a FlexRay PDU Format

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

Optimized Gateway Messages: The transport PDU consists of a control stream

PDU and one or more LIN, CAN, FR messages Source: ETAS
GW performance aspects
 GW performance aspects
 The routing performance should allow all messages received on several
buses with 100% load to be loss-free transmitted on the destination
interfaces (which are considered to be in ideal condition)

 Latency time requirements are strongly OEM specific, e.g.:

 OEM1: tlatency < 2 ms

 OEM2: tlatency < 500 µs

 Toyota’s ultra low latency: 100µs over 5 hops, i.e. 20µs/hop

GW
Network Msg RC Msg TX Msg Network
A Buffer Buffer B

tnetwork tlatency tnetwork t

Delay Transmission Delay Operation Delay Transmission

 Startup time (time needed to start communication)

Automotive Gateways

Ethernet GW/Switch in future

EE architectures
 Ethernet GW/Switch in future
EE architectures
CAN (FD)
LIN
Daisy Chain with
FlexRay
optional
DCU DCU DCU SW Ethernet
redundant path
Central
CGW
Gateway
Domain
DCU
Control
Unit
SW Switch

Switched Architecture CGW inspired

DCU DCU

DCU DCU DCU SW SW

DCU DCU

Full Meshed redundant

Backbone
 Gateway as possible Time Master

•TBD hope to get the

permission from an
OEM to insert a slide
Page <#> 24
 Gateway as convergence device
GW DCUR

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!

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