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17 June 2022

Design Methodology of Automotive Time-Sensitive Network System Based on OMNeT++ Simulation System

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School of Automotive Studies, Tongji University, Shanghai 201804, China
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Nanchang Automotive Institute of Intelligence and New Energy, Tongji University (NAIT), Nanchang 330052, China
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Author to whom correspondence should be addressed.
Sensors2022, 22(12), 4580;https://doi.org/10.3390/s22124580
This article belongs to the Special Issue Recent Theories and Applications in Transportation and Mobility
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Abstract

Advances in automotive technology require networks to support a variety of communication requirements, such as reliability, real-time performance, low jitter, and strict delay limits. Time-Sensitive Network (TSN) is a keyframe transmission delay-guaranteed solution based on the IEEE 802 architecture of the automotive Ethernet. However, most of the existing studies on automotive TSN performance are based on a single mechanism, lacking a complete and systematic research tool. At the same time, the design method should be considered from a global perspective when designing an automotive TSN system, rather than only considering a single mechanism that TSN applies to. This paper discusses the correspondence between traffic types and automotive scenarios and proposes a methodology to target the delay constraint of traffic types as the design goal of automotive TSN networks. To study the performance of automotive TSN under different mechanisms such as time-aware shaper (TAS), credit-based shaper (CBS), cyclic queuing and forwarding (CQF), etc., this paper also develops a systematic automotive TSN simulation system based on OMNeT++. The simulation system plays a crucial role in the whole methodology, including all applicable TSN standards for the automotive field. Lastly, a complex automotive scenario based on zonal architecture provided by a major motor company in Shanghai is analyzed in the simulated system; verifying TSN can guarantee real-time performance and reliability of the in-vehicle network.

1. Introduction

In-vehicle network technology is one of the key technologies for Intelligent and Connected Vehicles (ICVs). With the further development of automotive intelligence, traditional bus technology can no longer meet the needs of the future, and related breakthrough technologies are constantly being invented [1]. Automotive Ethernet is such a new technology that while the Time Sensitive Network (TSN) plays an important role in guaranteeing real-time performance and low jitter for automotive Ethernet, at present, the research on automotive TSN is still in the initial stage.
As an enhanced standard for Audio Video Bridging (AVB) evolution, the TSN standard can be applied in any cyber-physical system with time-sensitive requirements, such as industrial automation, automotive, aerospace, and so on. Soheil Samii, a member of the TSN working group and the OPEN Alliance, and Helge Zinner, a member of the IEEE, described the TSN standard that could be used for an automotive Ethernet in the future [2]. In addition, some profiles of the TSN working group have also promoted the application of TSN technology in various fields, although these standards are still in the draft stage [3]. According to some existing studies, industrial automation and the automotive industry will take the lead in adopting TSN as their mainstream networking method or backbone network [4].
Lucia Lo Bello et al. [5] have claimed that Model-based Engineering (MBE) and Component-based Software Engineering (CBSE) play a critical role in the development of automotive embedded systems. With the addition of time-sensitive network constraints, the development process of automotive embedded systems will become more complicated. Therefore, adding effective real-time scheduling and schedulability analysis techniques [6,7,8] in the development process can ensure the time predictability of automotive embedded systems. The greatest benefit that automotive TSN can bring to the in-vehicle network is to ensure the real-time performance of high-priority traffic in the case of mixed traffic.
However, there are still two major problems in the research of TSN in the automotive field. First, in the case of complex in-vehicle traffic requirements, in which TSN sub-standards are applicable to the automotive field, how to use these standards or mechanisms has become a research hotspot. TSN is a combination of a set of standards. All TSN standards can be divided into four categories according to their functions, clock synchronization, reliability, delay determinism, and resource management. Different industrial fields choose the appropriate TSN standard due to different needs. In automotive Ethernet communication networks, it is not only necessary to transmit safety-related control traffic but also non-safety-related audio and video traffic or other traffic. Second, how to design the in-vehicle TSN network system from the perspective of car designers should be studied. The automotive Ethernet traffic types are closely related to the usage scenarios of Ethernet traffic. The same scenario can involve many different traffic types, and the same traffic type can also be used in different automotive scenarios. Thus, the relationship between traffic types and the scheduling algorithm of the TSN system needs to be studied. Moreover, the design goal of the in-vehicle TSN system is critical, and the network performance of the TSN is also related to automotive electronic and electrical architecture (E/E architecture) and software architecture.
The motivations of this work are as follows.
First, to unify and simplify the design process of the automotive TSN communication system, a design methodology of the automotive TSN system should be studied considering all the key points such as market requirements, design goals, automotive E/E architecture, programming design, simulation analysis, and integration testing. The design methodology should also include the correspondence between automotive traffic types and traffic scenarios. In addition, there should be a simulation system to easily simulate the real-time performance of the designed automotive TSN communication system. Lastly, the architecture and data sources of the simulation should be from the real automotive industry rather than from the artificially constructed, and the real-time performance of the real TSN system should also be analyzed.
Based on the above considerations, a design methodology of an automotive TSN system based on OMNeT++ is proposed in this paper. The contributions of this paper can be summarized as follows:
  • The correspondence between traffic types and automotive scenarios is discussed to meet different scheduling requirements.
  • The critical parameters and procedures in the TSN design process are pointed out, and the core design goals of the automotive TSN communication system are determined.
  • A methodology for designing and developing the automotive TSN communication system is proposed.
  • A complete systematic automotive TSN simulation system is designed to analyze the performance with single or mixed TSN scheduling mechanisms and algorithms.
  • The performance of a complex automotive scenario based on zonal architecture provided by a major motor company in Shanghai is studied through the complete systematic automotive TSN simulation system.
The rest of this paper is organized as follows: Section 2 introduces the related work of automotive TSN, especially the existing software simulation system. Section 3 points out the traffic characteristics and design goals of the automotive TSN networks, forming the design methodology. Section 4 introduces a complete automotive TSN simulation system based on the OMNeT++ simulation tool and analyzes the performance of a specific automotive TSN application scenario through the TSN simulation system. Section 5 summarizes this paper.

3. Methodology

During the design of the automotive TSN networks, there is a typical parameter: traffic priority. In simple terms, TSN switches support up to 8 queues equivalently to 8 priorities. However, the traffic of the in-vehicle network is diverse, and the traffic has various characteristics such as transmission mode, transmission cycle, end-to-end delay, tolerance to loss, and criticality, as shown in Table 3.
Table 3. Traffic characteristics of the in-vehicle network.
Therefore, in the process of automotive TSN communication, it is necessary to perform a different Quality of Service (QoS) for traffic with different characteristics. Different QoS means a different traffic priority assignment or a different shaping mechanism. The main purpose of applying automotive TSN networks is to ensure the real-time performance of traffic. If meeting the time constraint of the traffic is taken as the core goal of the design for automotive TSN networks, the traffic of different car scenarios can be mapped to different traffic classes, such that only the timing constraints need to be put forward for the traffic class, and the design goals can be formulated according to the requirements. As shown in Table 4, traffic in different scenarios can be mapped to 8 priorities. In the table, Priority Code Point (PCP) is defined in the IEEE 802.1, which represents the priority.
Table 4. Correspondence between traffic types and automotive scenarios.
Considering the design of automotive E/E architecture, software architecture, the application scenarios and the traffic characteristics in this scenario, the methodology for the design of automotive TSN networks is formed, as shown in Figure 1, while the time constraint of traffic is taken as the core goal.
Figure 1. The methodology for the design of automotive TSN networks.
As shown in Figure 1, the design of automotive TSN networks mainly includes the following parts: requirements analysis and definition, design of the system or E/E architecture, detailed design and programming, simulation platform verification, physical platform verification, functional test, system integration test, and acceptance test.
The purpose of the requirement analysis and definition is to determine the application scenarios of the automotive TSN networks and all the traffic that need to be transmitted with characteristics requirements. This part of the work is generally carried out by customers, market personnel, and product manager, while all other stages require the participation of technical engineers. The design of E/E architecture consists of network architecture, software architecture, and redundant architecture. E/E architecture determines the structure of the entire TSN system. The network in the intelligent connected vehicles (ICVs) is a complex network coexisting with Ethernet, Controller Area Network (CAN), Local Interconnect Network (LIN), and other buses. In addition, the E/E architecture plays a decisive role in the performance of the network. The star topology and the ring topology have different advantages and applicable scenarios. Another aspect of the E/E architecture that needs to be determined is the redundant design of the network, including power redundancy and network redundancy. Generally, power redundancy is implemented by using additional power lines, while network redundancy is implemented by using redundant nodes or a ring network architecture. Finally, good software architecture can effectively reduce the delay of the signal at the software level inside the node.
The detailed design and programming are the core content of TSN, which mainly includes four parts: schedulability analysis, scheduling algorithm design, and security design and redundancy design. In the automotive TSN system, the schedulability analysis is used to verify the schedulable performance of the system under a given scheduling mechanism, and whether the application tasks meet the time requirements. The system can be verified in three different ways: formal mathematical model schedulability analysis, software simulation-based schedulability analysis, and physical-based schedulability analysis. The advantage of schedulability analysis can make designers choose a better shaping mechanism for automotive TSN networks. The design of the scheduling algorithm is related to the gate control list defined in IEEE 802.1Qbv. Designing a reasonable gate control state and gate control scheduling period is the key factor to realize the time determinism of the TSN. The security design serves the schedulability and the scheduling algorithm. The addition of security can ensure that the scheduling mechanism and the scheduling algorithm can work within a normal range without being affected by other attack traffic or abnormal traffic.
After everything is designed, the emulation platform can be used to simulate and verify the design of the automotive TSN networks. The emulation platform can be a software-based emulation platform or a hardware-based emulation platform. The hardware emulation platform can completely simulate the real automotive TSN system. Some standards that are still in the draft version or that will be released soon are not supported by switch chips; thus, all TSN standards can be implemented with the help of software emulation platform, and software emulation can greatly reduce the cost of the emulation platform.
The right-hand phases of the methodology are all testing phases, which include the functional test, system integration test, and acceptance test. The functional test is used to verify the conformance of the TSN standard, including the functional verification of the TSN scheduling mechanism, security redundancy, and time synchronization. The system integration test is used to verify the performance of the entire automotive TSN system and the conformance test of other protocols after integrating each TSN subsystem, including TCP/IP, Scalable Service-Oriented MiddlewarE over IP (SOMEIP), Diagnostic communication over Internet Protocol (DoIP) and other Ethernet-related protocols. Performance indicators such as maximum end-to-end delay, clock synchronization accuracy, clock synchronization time, system startup time, and link bandwidth utilization are tested during the performance test. Finally, regarding acceptance testing, all test results must meet the requirements.

4. Application Scenario

4.1. Simulation System

As mentioned above, only the software-based emulation platform can be shared by every designer throughout the design of the automotive TSN system. Other parts cannot be unified due to different car models, different requirements, different application scenarios, and different hardware devices. It is of great significance to establish a unified, systematic, and complete automotive TSN simulation platform
The overall framework of the TSN software simulation platform designed in this paper is shown in Figure 2. The software simulation platform designed in this paper is based on the OMNeT++ simulator, the INET framework, and the CoRE4INET framework, adding frame preemption, IPV function, and token bucket algorithm in MEF10.3, cyclic queuing and forwarding, asynchronous traffic shaping as well as the redundant communication mechanism. In this case, the TSN simulation platform can simulate all TSN mechanisms applicable to the vehicle field and can analyze the schedulability of the system.
Figure 2. Framework of the software-based emulation platform.

4.2. Use Case

A TSN network model based on zonal architecture is designed in this paper. The zonal architecture and traffic information are provided by a major motor company in Shanghai. Traffic and architecture are slightly redesigned to simulate mechanisms-mixed time-aware shaper and redundancy. TSN topology in the simulation platform is shown in Figure 3.
Figure 3. TSN topology in the simulation platform.
E/E architecture of the automotive TSN system adopts a hybrid topology, including end systems, zonal controllers, domain controllers, backbone networks, and remote controllers. The backbone network adopts a ring topology, and the zonal controller and end systems adopt a star topology.
The communication among the end systems, zonal controllers, and backbone networks is established through 1000BASE-T1. The communication between the backbone networks and remote controllers is established through 1000BASE-TX. There is a total of three zones, which are distributed in the front left, front right, and rear of the car. To apply more complex scenarios, the design of functional domains (ADAS, Body, Chassis, and Infotainment) is assumed in each zonal network.
Sensors such as lidar, millimeter-wave radar, ultrasonic radar, and cameras are used in the ADAS domain. The brakes are controlled by motors in the Chassis domain. The infotainment domain is used to play video and 3D stereo surround music. In the body domain, motors are used to control equipment such as doors and windows.
The messages in the ADAS domain are designed as video and point cloud data from sensors such as lidar, millimeter-wave radar, ultrasonic radar, and cameras. The messages in the chassis domain are designed as brake control messages. The messages in the Infotainment domain are designed as video and 3D stereo surround audio messages. The messages in the body domain are designed as control messages to control the window.
According to the methodology for the design of automotive TSN networks, in the case of the above automotive application scenarios, traffic characteristics and E/E architecture, traffic class should be defined for the different traffic types. Therefore, the traffic priority can be defined according to Table 4, as shown in Table 5.
Table 5. Design table of traffic priority and redundancy.
The complexity of this application is not yet the highest, because the number of traffic classes is less than eight, and messages with traffic class 1 and 2 can completely increase their priority. We reset the traffic priority of audio and video to 4, and the priority of window control to 3. The purpose of the simulation in this paper is not to target the most complex situation, but to carry out a detailed design according to the design methodology of the automotive TSN network and to analyze the performance of mechanisms-mixed time-aware shaper and redundancy. The whole traffic characteristics in this TSN network are shown in Table 6.
Table 6. Whole traffic characteristics in this TSN network.
The total bandwidth without redundancy is 408.9 Mbps. Considering the shunting effect of three VCCs, the maximum aggregate bandwidth on the backbone network will also be lower than 408.9 Mbps. If redundant packets are added, the maximum bandwidth is 548.2 Mbps.
The next step is detailed design and programming. The performance of scheduling and redundancy is analyzed in this case. Because the number of traffic classes is less than eight, the -TAS defined in IEEE 802.1Qbv fully meets the requirements. We compared the end-to-end delay of each traffic after adding the scheduling mechanism and redundancy mechanism, including the average, minimum, and maximum conditions, as shown in Table 7.
Table 7. End-to-end delay of each traffic.
As mentioned in the design methodology of the automotive TSN system, timing constraints are the core goal of the TSN design; thus, the main concerns of the performance analysis are the parameters related to time characteristics, such as the maximum end-to-end delay and the jitter. If the maximum end-to-end delay of traffic meets the time delay requirement, and the jitter is almost 0, then the TSN design is successful. The requirements of the time delay from the motor company are shown in Table 8.
Table 8. Time delay requirements of each traffic class.
It can be seen that the maximum end-to-end delay of the traffic Lidar is 61.49 μs/3 hops in the situation without applying scheduling and redundancy. The latency cannot meet the timing constraints defined in Table 8. Although the time delay of other traffic can meet the requirements, the jitters are still at a high level, especially the traffic Brake_Act3.
As shown in Figure 4 and Figure 5. In the situation with applying the time-aware shaper, the jitter and the maximum end-to-end delay of higher-priority traffic (6, 7) are greatly reduced, increasing the time certainty. The latency of the traffic Lidar is 59.95 μs, meeting the timing constraints. However, it will slightly increase the jitter and the maximum end-to-end delay of lower-priority traffic by about 70 μs. It also increases the average delay of lower-priority traffic, which is acceptable. As a result, the real-time performance improvement of the high-priority traffic brought by TAS sacrifices the real-time performance of low-priority traffic.
Figure 4. Maximum end-to-end delay of each traffic with different situations.
Figure 5. Jitter of each traffic with different situations.
The addition of the redundancy function has little effect on the end-to-end delay and jitter of each traffic under the bandwidth limitations. Redundancy can increase reliability by sacrificing a certain bandwidth. It can also be seen from the following analysis that the redundant packets will pass through the two paths. The packets that arrive first will be received, and the packets that arrive later will be discarded.
As shown in Figure 6, the three brake control traffics of the highest priority are concerned. It can be seen that when the redundancy function is not used, the minimum end-to-end delays of the three traffics are concentrated at the levels of 7, 10.6, and 14 μs. Because the number of hops traversed by the three traffics is different, when the redundancy function is used, Brake_Act3 has one path that goes through 3 hops and the other path that goes through 4 hops; thus, the traffic that passes through 3 hops will be accepted, and the traffic that passes through 4 hops will be eliminated. Therefore, the delays are concentrated at two levels of 7 and 10.6 μs.
Figure 6. End-to-end delay of brake control traffic (a) without scheduling and without redundancy; (b) with scheduling and without redundancy; (c) with scheduling and with redundancy.
When the scheduling mechanism is applied, the jitter of the brake control traffic will be reduced from the maximum jitter of 12.3 to 0 μs. The maximum jitter of 12.3 μs is because Brake_Act3 is affected by the video traffic when it is not scheduled.
As a result, the design of a TSN system based on the zonal architecture was successful. All the end-to-end delays and jitters of the traffic in this TSN system applying time-aware shaper and FRER can meet the timing constraints defined by the motor company in Shanghai.

5. Conclusions

In this paper, how to design a perfect or optimal automotive TSN system has been discussed, and the automotive TSN design methodology is proposed from a global and holistic perspective. Different car manufacturers have different development models, and each model may also use different in-vehicle network systems. However, the design of any automotive TSN system can follow the methodology presented in this paper regardless of the differences existing in different companies or researchers. In the methodology, the correspondence between traffic types and traffic priorities is critical. The priority of the traffic determines the scheduling algorithm and different QoS. The core design goal of the automotive TSN system is meeting the timing constraints of each traffic.
To verify the success of the design of the TSN system, the end-to-end delay and jitter for each traffic should be analyzed. Therefore, a complete and systematic automotive TSN simulation platform is designed in this paper to study the performance of further scheduling algorithms and mechanisms, including single and mixed mechanisms. All the scheduling mechanisms suitable for the automotive field can be analyzed in the simulation platform.
Finally, the performance of a TSN network for autonomous driving based on zonal E/E architecture provided by a major motor company in Shanghai was analyzed, containing various traffics from different domains (ADAS, Body, Chassis, and Infotainment). After applying the time-aware shaper and redundancy mechanism defined in TSN, the end-to-end delays of high-priority traffic can meet the timing constraints defined by the motor company, and the jitter of the control traffic and ADAS traffic was reduced to 0 μs.
In the future, we plan to analyze the performance of the asynchronous traffic shaper defined in IEEE 802.1Qcr and study which in-vehicle scenarios the mechanism is suitable for and how it works with other TSN scheduling mechanisms through the simulation platform that this paper presented. We also plan to optimize the TSN scheduling algorithm with the help of intelligent algorithms such as machine learning.

Author Contributions

Conceptualization, B.W. and F.L.; methodology, B.W. and Z.Y.; software, B.W. and Z.F.; validation, P.Z., Y.M., and Z.Y.; investigation, B.W.; resources, M.W.; writing—original draft preparation, B.W.; writing—review and editing, B.W. and Y.M.; supervision, Z.Y. and P.Z.; funding acquisition, M.W. and Z.S. All authors have read and agreed to the published version of the manuscript.

Funding

This research was funded by the Shanghai Automotive Industry Science and Technology Development Foundation (1806) and the Perspective Study Funding of Nanchang Automotive Institute of Intelligence and New Energy, Tongji University (TPD-TC202110-14).

Institutional Review Board Statement

Not applicable.

Data Availability Statement

Not applicable.

Acknowledgments

We acknowledge the support received from the Shanghai Automotive Industry Science and Technology Development Foundation (1806) and the Perspective Study Funding of Nanchang Automotive Institute of Intelligence and New Energy, Tongji University (TPD-TC202110-14).

Conflicts of Interest

The authors declare no conflict of interest.

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