The use of networks for communications between the electronic control units (ECU) of a vehicle in production cars dates from the beginning of the 1990s. The specific requirements of the different car domains have led to the development of a large number of automotive networks such as Local Interconnect Network, J1850, CAN, TTP/C, FlexRay, media-oriented system transport, IDB1394, etc. This paper first introduces the context of in-vehicle embedded systems and, in particular, the requirements imposed on the communication systems. Then, a comprehensive review of the most widely used automotive networks, as well as the emerging ones, is given. Next, the current efforts of the automotive industry on middleware technologies, which may be of great help in mastering the heterogeneity, are reviewed. Finally, we highlight future trends in the development of automotive communication systems.
Desynchronizing streams of frames through the means of offsets has today become common practice in automotive CAN networks. This is because this traffic shaping strategy is very beneficial in terms of reducing response times especially at high load levels. However, to the best of our knowledge, there is no result available in the literature that allows the response times of frames with offsets to be calculated for CAN. In this paper, we address this shortcoming of existing CAN schedulability analysis, and propose an extendible framework built upon the transaction model to derive worst-case response times (WCRT) on CAN. As will be shown in the experiments performed on realistic automotive networks, explicitly integrating offsets in the analysis permits a much tighter WCRT evaluation than with the classical synchronous analysis, which ultimately enables the designer to reduce resource overprovisioning.
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