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1: In-Car Networking
ISO/OSI Layers
Denes
7
layers
see
next
slide
7 Application
6
Presentation
Presentation
Session
Session
Transport
Network
Data link
Physical
Segment
Packet
Frame
Bit
Transport
Network
Network
Network
Data link
Data link
Data link
Physical
Physical
Physical
Router
Physical Layer
Network Layer
Transport Layer
Session Layer
PresentaGon Layer
ApplicaGon Layer
Physical
Layer
Data
Link
Layer
Source: AUDI AG
Lower
cost
Material
Weight
Volume
Higher
modularity
customizability
of
vehicles
cooperaGon
with
Original
Equipment
Manufacturers
(OEMs)
History
First
micro
processors
in
vehicles
in
1980s
CommunivaGon
via
point
to
point
connecGons
Simple
control
lines,
lifle
real
data
transmission
True
data
transmission
for
connecGon
external
diagnosis
equipment
Birth
of
standard
for
character
transmission
via
K-Line
(ISO
9141)
Finally:
introducGon
of
data
busses
for
in-vehicle
communicaGon
Later
standardized
as
CAN
(ISO
11898)
Use
in
series
producGon
models
starts
1991
Use cases
Use
cases
Driveline
Engine and transmission control
Active Safety
Electronic Stability Programme (ESP)
Passive Safety
Air bag, belt tensioners
Comfort
Interior lighting, A/C automation
10
ClassicaGon
On
board
communicaGon
O
board
communicaGon
On board communicaGon
SimplicaGon
of
wiring
Replaces
dedicated
copper
wiring
E.g.,
central
power
locks,
power
windows,
turn
signal
lights
11
ClassicaGon
On
board
communicaGon
O
board
communicaGon
O board communicaGon
Diagnosis
Readout
of
ca.
3000
kinds
of
errors
Garage,
exhaust
emission
tesGng
Flashing
IniGal
installaGon
of
rmware
on
ECUs
AdaptaGon
of
ECU
to
make,
model,
extras,
...
Debugging
Detailled
diagnosis
of
internal
status
During
development
12
Message
length
Control and
monitoring
Message rate
Data rate
Latency
Robustness
Cost
Simplified
Wiring
Multimedia
Diagnosis
Flashing
Debugging
13
Cheap
Diagnosis, Sensor-Actor
Class B
Error correcting
Networking ECUs
Class C
Drive train
Class D
Low latency
Overview,
Use
Cases,
and
Architectures
X-By-Wire, Multimedia
14
Network Topologies
Network topologies
Line
Cost
Complexity
Robustness
Star
Cost
Complexity
()
Robustness
Ring
Cost
Complexity
Robustness
15
Network Topologies
1 Phy
Repeater
Signal
amplicaGon
Signal
refreshing
Bridge
Medium
/
Gming
adaptaGon
Unltered
forwarding
Router
Filtered
forwarding
Gateway
Address
adaptaGon
Speed
adaptaGon
Protocol
adaptaGon
Bus 1
Bus 2
2 - Lnk
1 - Phy
1 - Phy
Bus 1
Bus 2
3 - Net
2 - Lnk
2 Lnk
1 - Phy
1 - Phy
Bus 1
Bus 2
7 - App
3 - Net
3 - Net
2 - Lnk
2 Lnk
1 - Phy
1 - Phy
Bus 1
Bus 2
16
Network Topologies
Data
transmission
Medium
Optical
Fiber line
Electrical
Wireless
One wire
Bluetooth
Two (multi)
wire
WiFi
Unicast
Broadcast
Multicast
17
Network Topologies
Base
state
transistors
non-conducGve
pull
up
resistors
raise
bus
level
to
high
18
Network Topologies
Wired OR
Measurement point C
19
Network Topologies
Wired OR
Measurement point: 5V
(logical 0)
A: 5V
B: 5V
20
Network Topologies
Wired OR
A v B = C
Measurement point: 0V
(logical 1)
A: 0V
B: 5V
21
Network Topologies
Wired AND
Measurement point C
22
Network Topologies
Wired AND
Measurement point: 5V
(logical 1)
A: 5V
B: 5V
23
Network Topologies
Wired AND
A ^
B = C
Measurement point: 0V
(logical 0)
A: 0V
B: 5V
24
Network Topologies
Wave eects
l
200ns
c
Countermeasures
Add
terminator
plugs
(resistor)
Minimize
use
of
connectors
25
Network Topologies
Bit coding
logical 0
logical 1
Manchester
(original variant)
NRZ
Manchester
26
Network Topologies
Clock
Signal
Bits
0 1 1 0 1 1 1 0 1 1 1 1 0
27
Network Topologies
Manchester Code
Clock
Signal
Bits
0 1 1 0 1 1 1 0 1 1 1 1 0
28
Network Topologies
NRZ
Manchester
29
Network Topologies
Clock drim
NRZ
Manchester
30
Network Topologies
Bit stung
Problem
When
using
NRZ
coding,
sending
many
idenGcal
bits
leaves
no
signal
edges
that
could
be
used
to
compensate
for
clock
drim
SoluGon
InserGon
of
extra
bits
amer
n
consecuGve
idenGcal
bits
NRZ
plain
NRZ
w/ bit stuffing
[C2X]
Summer
2014
31
Network Topologies
Bus access
Deterministic
centralized
distributed
Random
non collision
free
collision free
32
Network Topologies
DeterminisGc, centralized
Master-Slave protocols
Master asks
Slave 1
Slave 1
answers
Master asks
Slave 2
Slave 2
answers
...
33
Network Topologies
DeterminisGc, distributed
Slave 1
sending...
...
TDMA Slot
Slave 1
...
...hands
Token to
Slave 3
...hands
Token to
Slave 2
Slave 2
sending...
TDMA Slot
Slave 2
TDMA Slot
Slave 4
TDMA Slot
Slave 3
34
Network Topologies
Client 1
d1
d1
Client 2
sense
sense
d2
d2
Bus
d1
d1
d2
d2
Data 1
Data 2
Data 2
Data 1
[C2X]
Summer
2014
35
Network Topologies
Client 1
d1
jam
d1
Client 2
d2
jam
backoff
d2
Bus
jam
d1
d2
Jam
signal
Data 1
Data 2
Collision
[C2X]
Summer
2014
36
Network Topologies
Client 1
d1
Client 2
backoff
d2
Bus
d1
d2
Data 1
Arbitration
Data 2
Arbitration
37
Network
Topologies
Typical
structure
of
an
ECU
SeparaGon
by
Layers
Physical
Layer:
Transceiver
/
Bus
driver
Bus
access:
CommunicaGon
controller
ApplicaGon
layer:
Microprocessor
Commonly
with
bus
guard
for
emergency
shutdown
MAC
Enable
PHY
Bus guard
Bus
Enable
38
Network Topologies
39
Decentralized
architecture
Con:
MulGple
interconnecGons
high
delay
Con:
Distributed
complexity
high
maintainance
Pro:
Decouples
individual
funcGons
Centralized
architecture
Pro:
One
interconnecGon
fast,
robust
networking
Pro:
Manageable
complexity
low
maintainance
Pro:
Flexible,
modular
deployment
40
Main Takeaways
Network Topologies
Bus access
[C2X]
Summer
2014
41