Abstract
As FlexRay communication protocol is extensively used in distributed real-time applications on vehicles, signal scheduling in FlexRay network becomes a critical issue to ensure the safe and efficient operation of time-critical applications. In this study, we propose a rectangle bin packing optimization approach to schedule communication signals with timing constraints into the FlexRay static segment at minimum bandwidth cost. The proposed approach, which is based on integer linear programming (ILP), supports both the slot assignment mechanisms provided by the latest version of the FlexRay specification, namely, the single sender slot multiplexing, and multiple sender slot multiplexing mechanisms. Extensive experiments on a synthetic and an automotive X-by-wire system case study demonstrate that the proposed approach has a well optimized performance.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Bertoluzzo, M., Buja, G., Zuccollo, A., 2004. Design of drive-by-wire communication network for an industrial vehicle. IEEE Int. Conf. on Industrial Informatics, p.155–160. http://dx.doi.org/10.1109/INDIN.2004.1417320
Grenier, M., Havet, L., Navet, N., 2008. Configuring the communication on FlexRay: the case of the static segment. 4th European Congress on Embedded Real Time Software, p.1–18.
Hu, M.L., Luo, J., Wang, Y., et al., 2014. Holistic scheduling of real-time applications in time-triggered in-vehicle networks. IEEE Trans. Ind. Inf., 10(3):1817–1828. http://dx.doi.org/10.1109/TII.2014.2327389
Hua, Y., Liu, X., He, W.B., et al., 2014. Design and implementation of holistic scheduling and efficient storage for FlexRay. IEEE Trans. Parall. Distrib. Syst., 25(10): 2529–2539. http://dx.doi.org/10.1109/TPDS.2013.205
International Organization for Standardization, 2013. Road Vehicles—FlexRay Communications System—Part 2: Data Link Layer Specification, ISO 17458-2:2013. International Organization for Standardization, Geneva.
Kang, M., Park, K., Jeong, M.K., 2013. Frame packing for minimizing the bandwidth consumption of the FlexRay static segment. IEEE Trans. Ind. Electron., 60(9}):4001–4008. http://dx.doi.org/10.1109/TIE.2012.220
Lee, K.C., Kim, M.H., Lee, S., et al., 2003. IEEE-1451-based smart module for in-vehicle networking systems of intelligent vehicles. IEEE Trans. Ind. Electron., 51(6):1150–1158. http://dx.doi.org/10.1109/TIE.2004.837879
Lodi, A., Martello, S., Vigo, D., 2004. Models and bounds for two-dimensional level packing problems. J. Combin. Optim., 8(3):363–379. http://dx.doi.org/10.1023/B:JOCO.0000038915.62826.79
Lukasiewycz, M., Glaß, M., Teich, J., et al., 2009. FlexRay schedule optimization of the static segment. Proc. 7th IEEE/ACM Int. Conf. on Hardware/Software Codesign and System Synthesis, p.363–372. http://dx.doi.org/10.1145/1629435.1629485
Navet, N., Song, Y., Simonot-Lion, F., et al., 2005. Trends in automotive communication systems. Proc. IEEE, 93(6): 1204–1223. http://dx.doi.org/10.1109/JPROC.2005.849725
Park, I., Sunwoo, M., 2011. FlexRay network parameter optimization method for automotive applications. IEEE Trans. Ind. Electron., 58(4):1449–1459. http://dx.doi.org/10.1109/TIE.2010.2049713
Pop, T., Pop, P., Eles, P., et al., 2008. Timing analysis of the FlexRay communication protocol. Real-Time Syst., 39(1-3): 205–235. http://dx.doi.org/10.1007/s11241-007-9040-3
Puchinger, J., Raidl, G.R., 2007. Models and algorithms for three-stage two-dimensional bin packing. Eur. J. Oper. Res., 127(3):1304–1327. http://dx.doi.org/10.1016/j.ejor.2005.11.064
Robert Bosch GmbH, 1991. Controller Area Network. Available from http://www.can.bosch.com/ [Accessed on Mar. 22, 2015]
Schmidt, K., Schmidt, E.G., 2008. Message scheduling for the FlexRay protocol: the static segment. IEEE Trans. Veh. Techn., 58(5):2170–2179. http://dx.doi.org/10.1109/TVT.2008.2008654
Schneider, R., Goswami, D., Chakraborty, S., et al., 2011. On the quantification of sustainability and extensibility of FlexRay schedules. Proc. 48th Design Automation Conf., p.375–380. http://dx.doi.org/10.1145/2024724.2024814
Tanasa, B., Bordoloi, U.D., Eles, P., et al., 2011. Reliabilityaware frame packing for the static segment of FlexRay. 9th ACM Int. Conf. on Embedded Software, p.175–184. http://dx.doi.org/10.1145/2038642.2038670
Tanasa, B., Bordoloi, U.D., Kosuch, S., et al., 2012. Schedulability analysis for the dynamic segment of FlexRay: a generalization to slot multiplexing. IEEE 18th Real-Time and Embedded Technology and Applications Symp., p.185–194. http://dx.doi.org/10.1109/RTAS.2012.10
Zeng, H.B., Natale, M.D., Ghosal, A., et al., 2011. Schedule optimization of time-triggered systems communicating over the FlexRay static segment. IEEE Trans. Ind. Inform., 7(1):1–17. http://dx.doi.org/10.1109/TII.2010.2089465
Author information
Authors and Affiliations
Corresponding author
Additional information
Project supported by the Program for Changjiang Scholars and Innovative Research Team in the University of Ministry of Education of China (No. IRT1017)
ORCID: Rui ZHAO, http://orcid.org/0000-0002-3757-8047
Rights and permissions
About this article
Cite this article
Zhao, R., Qin, Gh. & Liu, Jq. A rectangle bin packing optimization approach to the signal scheduling problem in the FlexRay static segment. Frontiers Inf Technol Electronic Eng 17, 375–388 (2016). https://doi.org/10.1631/FITEE.1500232
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1631/FITEE.1500232