Schedule Optimization for Ttethernet-based Time-triggered Automotive Systems
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ght © 2020 KSAE/ 11815 pISSN 12299138/ eISSN 19763832
SCHEDULE OPTIMIZATION FOR TTETHERNET-BASED TIME-TRIGGERED AUTOMOTIVE SYSTEMS Rui Zhao1), Guihe Qin2), Jie Yan2)* and Jun Qin2) School of Automotive Engineering, Jilin University, Changchun 130000, China School of Computer Science and Technology, Jilin University, Changchun 130000, China 1)
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(Received 27 December 2018; Revised 25 November 2019; Accepted 18 February 2020) ABSTRACTTTEthernet is a new high availability network protocol for the automotive domain, providing support for the transmissions of time-critical periodic frames in a time-triggered (TT) traffic and event-triggered frames in a rate-constrained (RC) or best-effort (BE) traffic. The design of a system scheduling with communication over the TTEthernet is not an easy task because of protocol and timing constraints as well as the demand for high quality-of-service and extensibility. In this paper, we study the co-optimization problem of the tasks and signals scheduling for TTEthernet-based time-triggered automotive systems. We propose a Mixed-Integer Linear Programming (MILP) framework for optimizing the signal packing, signal scheduling and task scheduling, subject to all protocol, processor and timing constraints with respect to latency- or extensibility- related metrics. Extensive experiments are conducted to evaluate the effectiveness and efficiency of the proposed approach in a variety of scenarios. KEY WORDS : Automotive, Time-triggered systems, TTEthernet, Scheduling, Mixed-integer linear programming
NOMENCLATURE
Constant Parameters Used in the MILP Ei : the PE that i needs to execute Ci : the execution time of i Pi : the period of task i Di : the deadline of task i Tj : the PE link resource that sends j Rj : the PE link resource that receives j Wj : the length of j Pj : the period of j Dj : the deadline of j f Tm : the PE link resource that sends fm f Pm : the period of fm l Vg : the transmission speed of lg l Bg : the desired size of the idle gap between two consecutive TT frames on lg D : the deadline of f Wmax : the upper limit of frame length f Wmin : the lower limit of frame length M : a large constant for linearization
Elements and Sets Used in the MILP : the i-th task i : the j-th signal i : the m-th frame fm : the g-th link resource lg : the k-th application k : the -th path src : the source task of path des : the sink task of path : the set of tasks S : the set of signals : the set of signals from PE link resource lg Sg Sg,h : the set of all branches of the h-th multicast signal of lg F : the set of frames : the set of frames from PE link resource lg Fg L : the set of link resources : the set of PE link resources Lp : the set of network link resources Ln FP : the set of time-sensitive function paths U : the derived set from the base sets S and L, where j , lg U denotes that the j uses lg Q : the derived set from the base sets S and L, where j , lg, lg Q denotes that j uses lg and lg in order
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