電子控制單元容錯架構運用在關鍵安全的FlexRay車控網路系統

ECU-Level Fault-Tolerant Framework for Safety-Critical FlexRay Network Systems

劉家銘(Chia-Ming Lyu)

指導教授 ： 陳永源

國立臺北大學/電機資訊學院/電機工程研究所/碩士(2013年)

摘要

FlexRay 為汽車控制系統的通訊網路協定，用來讓電子控制單元在系統運作時具有更高的安全性與舒適性，以滿足日益增長的需求。車用電子控制單元比其他系統需要更高的可靠度，也因為這樣的訴求，這些系統必須加入容錯技術來達到高可靠度的要求。本論文中提出電子控制單元容錯架構運用在關鍵安全的 FlexRay 車控網路系統，系統容錯架構使用區域性冗餘技術，例如：備份節點、鏡像任務與任務搬移技術使電子控制單元發生故障時，依然能保持系統正常運作。開發可靠度模型用來分析各種容錯架構的系統可靠度，藉由改變各種參數分析系統可靠度，例如：不同備份節點個數、系統大小與節點永久性故障機率，最後提出完整的可靠度分析結果並討論。錯誤注入通常被用來驗證系統可靠度與安全度，在本研究中開發一套FlexRay 通訊系統的錯誤注入平台，搭配干擾節點 TTX Disturbance Node 注入遺失錯誤來干擾通訊匯流排上所傳輸的訊框。並以個案研究的方式在 FlexRay 節點上開發簡易的線控轉向應用系統，搭配錯誤注入平台來驗證當電子控制單元發生故障時，系統容錯架構的功能性。

關鍵字

容錯 ； FlexRay ； 可靠度 ； 線控駕駛

並列摘要

FlexRay, as a communication protocol for automotive control systems, is developed to fulfill the increasing demand on the electronic control units for implementing systems with higher safety and more comfort. There is an ultimate need that the automotive electronic control units must possess higher reliability compared with the other systems. Fault-tolerant technology must be integrated in order to achieve such requirement. In this paper, we propose an effective ECU-level fault-tolerant framework for safety-critical FlexRay network systems. The proposed framework employs the local redundancy scheme with the backup nodes, mirrored task and task migration to sustain the operation of system when the failure of ECUs occurs. We develop the reliability model for the analysis of our fault-tolerant FlexRay systems. The reliability analysis with various numbers of backup nodes, system sizes and ECU failure rates are conducted and the reliability results are provided and discussed.
Fault injection is often employed in validating the system’s reliability and safety. In this study, we propose a fault injection platform for FlexRay communication systems and use TTX Disturbance Node which injects deletion faults into the communication bus to interfere with the transmission frames. We demonstrate the proposed fault injection platform by a simplified FlexRay steer-by-wire system to show the feasibility of the fault injection platform. The injection platform is utilized to verify the fault-tolerant framework capability when the electronic control units incur faults.

並列關鍵字

Fault Tolerance ； FlexRay ； Reliability ； Steer-by-wire

參考文獻

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