Worst Case Response Time Analysis for Messages in Controller Area Network with Gateway

Yong XIE  Gang ZENG  Yang CHEN  Ryo KURACHI  Hiroaki TAKADA  Renfa LI  

IEICE TRANSACTIONS on Information and Systems   Vol.E96-D   No.7   pp.1467-1477
Publication Date: 2013/07/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.E96.D.1467
Print ISSN: 0916-8532
Type of Manuscript: PAPER
Category: Software System
CAN,  gateway,  busy sequence,  worst case response time,  the minimum distance constraint,  

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In modern automobiles, Controller Area Network (CAN) has been widely used in different sub systems that are connected by using gateway. While a gateway is necessary to integrate different electronic sub systems, it brings challenges for the analysis of Worst Case Response Time (WCRT) for CAN messages, which is critical from the safety point of view. In this paper, we first analyzed the challenges for WCRT analysis of messages in gateway-interconnected CANs. Then, based on the existing WCRT analysis method proposed for one single CAN, a new WCRT analysis method that uses two new definitions to analyze the interfering delay of sporadically arriving gateway messages is proposed for non-gateway messages. Furthermore, a division approach, where the end-to-end WCRT analysis of gateway messages is transformed into the similar situation with that of non-gateway messages, is adopted for gateway messages. Finally, the proposed method is extended to include CANs with different bandwidths. The proposed method is proved to be safe, and experimental results demonstrated its effectiveness by comparing it with a full space searching based simulator and applying it to a real message set.