A resource-efficient IP-based network architecture for in-vehicle communication [Elektronische Ressource] / Mehrnoush Rahmani

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• Publié par: technische_universitat_munchen
• Publié le: 01 janvier 2009
• Nombre de lectures: 18
• Langue: English
• Poids de l'ouvrage: 3 Mo

Extrait

Technische Universita¨t Mu¨nchen
Lehrstuhl fu¨r Medientechnik
A Resource-Efficient IP-based Network
Architecture for In-Vehicle Communication
Dipl.-Ing. Univ. Mehrnoush Rahmani
Vollsta¨ndiger Abdruck der von der Fakulta¨t fu¨r Elektrotechnik und Informationstechnik der
Technischen Universita¨t Mu¨nchen zur Erlangung des akademischen Grades eines
Doktor-Ingenieurs (Dr.-Ing.)
genehmigten Dissertation.
Vorsitzender: Univ.-Prof. Dr. sc. techn. Andreas Herkersdorf
Pru¨fer der Dissertation: 1. Univ.-Prof. Dr.-Ing. Eckehard Steinbach
2. Prof. Dr. rer. nat. Ernst W. Biersack
Grande Ecole Telecom Paris/ Frankreich
Die Dissertation wurde am 16.03.2009 bei der Technischen Universita¨t Mu¨nchen eingereicht und
durch die Fakulta¨t fu¨r Elektrotechnik und Informationstechnik am 19.06.2009 angenommen.Acknowledgment
This dissertation was written during my time as PhD student and research member in the network archi-
tecture group at BMW Research and Technology and at the Institute for Media Technology at Technische
Universita¨t Mu¨nchen (TUM). I am grateful to both institutes to give me the opportunity for this work.
This thesis is the result of three years of work whereby I have been accompanied and supported by many
people. It is a pleasure to have the opportunity to express my gratitude to all of them.
First, I would like to thank my PhD adviser Prof. Dr.-Ing. Eckehard Steinbach for accepting to supervise
me as an external PhD student and for his continuous support. I am grateful to him for his many sugges-
tions and for being available whenever I needed his advise. His constructive way of work taught me how
to carry on in all difficult situations. I owe him lots of gratitude for challenging me and showing me how
to progress.
Special thanks goes also to my BMW supervisor, Richard Bogenberger, who kept an eye on the progress
of my work and integrated me perfectly in his projects. I thank him for providing me with all facilities I
needed for this work. I also would like to express my profound appreciation to Mr. Karl-Ernst Steinberg,
head of the department for offering me this position and for his constant support also after the PhD period.
I would like to express my special gratitude to Prof. Dr. Ernst Biersack from Eurecom for accepting to
be my second PhD adviser. I learnt a lot from him during our cooperative projects over the period of this
dissertation. It is a pleasure for me to have him as my second thesis examiner.
I also would like to acknowledge the cooperative and friendly atmosphere in BMW Research and Tech-
nology which is certainly due to its staff. All of my colleagues supported me during this work. My team
colleagues, Wolfgang Hintermaier, Joachim Hillebrand, Dr. Rainer Steffen, Dr. Daniel Herrscher and An-
dreas Winckler from the ZT-4 department, Dr. Klaus Gresser, Andreas Laika and Dr. Marc Walessa from
the ZT-3 department contributed to the success of this thesis. I am grateful to all of them. I also would
like to thank Isaac Trefz, Holger Endt, Champ, Ben Krebs and Martin Pfannenstein for proofreading this
thesis. I appreciate the staff of the Institute at TUM for providing a pleasant environment to work during
the periods I spent at the university.
All students I supervised did an excellent work and contributed a lot to this dissertation. It would not be
possible to finish this thesis within three years without their contributions. I thank them all and hope to
have the opportunity to support them too in the future.
Last but most notably, a great thank goes to my dear parents who always encourage me with the best
advises for life. This work would never be done without their infinite support. Also, my younger brother
and sister, Alborz and Delaram enrich my life with much love. In the end, I dedicate my most special
thank to my future husband, Michael who is my best friend, mentor, ideal and stand in life.
Munich, January 2009 Mehrnoush RahmaniAbstract
This dissertation investigates various aspects of network design and planning for future in-vehicle data
communication. The major issues addressed are network architecture and topology design, network di-
mensioning, and resource-efficient streaming by means of traffic shaping and video compression in driver
assistance camera systems. Concerning the network architecture and topology design, standardized com-
munication protocols from the IT domain are analyzed with respect to the in-vehicle communication
requirements. A heterogeneous and all-IP-based network architecture is introduced in two different rep-
resentative network topologies as candidate parts of the future overall in-vehicle network. Motivated by
the fact that the car is a closed network system where all applications and their transmission scenarios
are known a priori, a static network dimensioning method is derived analytically and verified by a self-
designed simulation model. Quality of Service and resource usage are analyzed in the proposed network
topologies. Traffic shaping is used to reduce the required network resources and consequently the cost.
A novel traffic shaping algorithm is presented that outperforms other traffic shapers in terms of resource
usage when applied to variable bit rate video sources under certain topology constraints. Video compres-
sion algorithms are investigated in driver assistance camera systems to be configured such that negative
effects on the system performance are avoided while the overall resource usage is reduced. Finally, an
experimental prototype is introduced that demonstrates the applicability of the proposed IP-based network
in a real car.
Zusammenfassung
In der vorliegenden Arbeit werden Konzepte fu¨r die zuku¨nftige Datenkommunikation im Fahrzeug ent-
wickelt. Dabei liegen die Schwerpunkte auf dem Entwurf der Netzarchitektur und -topologie, der Netz-
¨dimensionierung, der ressourceneffizienten Ubertragung mittels Verkehrsgestaltung (engl. Traffic-Shap-
ing) sowie der Videokompression in Fahrerassistenz-Kamerasystemen. Zuna¨chst werden fu¨r den Ent-
wurf der Netzarchitektur und -topologie standardisierte Kommunikationsprotokolle aus dem IT-Bereich
bezu¨glich der Erfu¨llung der Kommunikationsanforderungen im Fahrzeug untersucht. Anschließend wird
der Entwurf einer heterogenen und durchga¨ngig auf IP-basierten Netzarchitektur fu¨r zwei Arten von Netz-
topologien vorgestellt. Diese sind repra¨sentativ fu¨r zuku¨nftige mo¨gliche Fahrzeugbordnetze. Ausgehend
von einem geschlossenen Kommunikationsnetz im Fahrzeug mit a priori bekannten Applikationen und
¨Ubertragungsszenarien wird eine statische Netzdimensionierungsmethode analytisch hergeleitet und an-
hand eines eigens entwickelten Simulationsmodells validiert. Um die beno¨tigten Netzressourcen und
somit die Kosten zu reduzieren, wird die Methode des Traffic-Shaping eingesetzt. Hinsichtlich der er-
forderlichen Ressourcenbelegung ist der vorgestellte Traffic-Shaping-Algorithmus bei Anwendung in
Videoquellen mit variabler Datenrate unter bestimmten Topologiebedingungen allen bekannten Traffic-
Shapern u¨berlegen. Weiterhin werden Videokompressionsalgorithmen fu¨r den Einsatz in Fahrerassistenz-
Kamerasystemen untersucht und so konfiguriert, dass negative Einflu¨sse auf die Systemperformanz ver-
mieden werden und gleichzeitig die Ressourcenbelegung reduziert wird. Abschließend wird ein proto-
typischer Aufbau vorgestellt und die Anwendbarkeit des neu entwickelten IP-basierten Netzes in einem
realen Fahrzeug verifiziert.Contents
1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Contributions and Outline of this Dissertation . . . . . . . . . . . . . . . . . . . 4
2 State of the Art 7
2.1 An Overview of the Existing Automotive Network Systems . . . . . . . . . . . . 7
2.1.1 CAN: Controller Area Network . . . . . . . . . . . . . . . . . . . . . . 7
2.1.2 LIN: Local Interconnect Network . . . . . . . . . . . . . . . . . . . . . 9
2.1.3 MOST: Media Oriented Systems Transport . . . . . . . . . . . . . . . . 10
2.1.4 FlexRay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 IP/Ethernet-based Networks with QoS Support . . . . . . . . . . . . . . . . . . 11
2.2.1 Avionic Full-Duplex Switched Ethernet (AFDX) . . . . . . . . . . . . . 15
2.2.2 Audio Video Bridging . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Video Compression and Image Processing in the Car . . . . . . . . . . . . . . . 18
2.3.1 Video Compression - Basics and Codecs . . . . . . . . . . . . . . . . . . 18
2.3.2 Image Processing in Driver Assistance Systems . . . . . . . . . . . . . . 26
2.4 In-Vehicle Traffic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.4.1 Requirement Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.4.2 Traffic Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3 Proposed Network Architecture 40
3.1 Heterogeneous IP-based In-Vehicle Network . . . . . . . . . . . . . . . . . . . . 40
3.1.1 Considered Network Topologies . . . . . . . . . . . . . . . . . . . . . . 41
3.1.2 Analysis of the Component Effort . . . . . . . . . . . . . . . . . . . . . 43
3.2 Wired Core Network . . . . . . . . .