WCRT Analysis of CAN Messages in Gateway-Integrated In-Vehicle Networks (original) (raw)

In modern automobiles, gateways are commonly used to connect several subsystems of controller area networks (CANs) to achieve integrated architecture and distributed cross-bus functionalities. To analyze the real-time property of such in-vehicle networks, worst-case response time (WCRT) analysis for gatewayintegrated CAN messages has been studied recently. However, the WCRTs obtained are quite pessimistic. In this study, we examine in detail the various actual arriving orders of gateway messages and then propose an explorative WCRT computation method. It is proved that the obtained WCRT results are safe WCRT bounds. Experimental results for real message set demonstrate as much as 24% reduction of WCRT compared with those obtained using the state-of-the-art methods. Index Terms-Controller area network (CAN), gateway, integrated architecture, in-vehicle networks, worst case response time (WCRT). I. INTRODUCTION A. Background I N A typical car of today, different suppliers develop different distributed subsystems (e.g., the body subsystem, the powertrain subsystem, and the entertainment subsystem, etc.