具備嵌入式防鎖死煞車系統之容錯與自我修復FlexRay 通訊網路設計

The Communication Network Design of Fault-Tolerant and Self-Healing FlexRay with the Embedded Anti-Braking System

黃永全(Yung-Chuan Huang)

指導教授 ： 許永和

國立虎尾科技大學/電機資訊學院/資訊工程系碩士班/碩士(2016年)

摘要

近年來，隨著車輛電子與嵌入式技術發展純熟，車輛所搭載的感測器與電子控制單元(ECU)不斷增加，車內大多數的ECU逐漸以嵌入式系統來實現，且車載通訊網路所需的傳輸速率與頻寬相對的大幅提高，使得車載通訊網路的安全性與可靠性受到了高度的重視。
有鑑於此，本論文以原本的FlexRay通訊網路為基礎，開發出具備容錯與自我修復之FlexRay線傳控制駕駛(Drive-by-Wire) ECU節點與線傳控制煞車(Brake-by-Wire) ECU節點之混合型拓樸連接的FlexRay網路。而在目前主流的車用網路控制器區域網路(CAN)，則是開發出儀表節點、燈控節點與CAN Monitor節點，並設計出一閘道器整合FlexRay網路以實現FlexRay與CAN網路間的資料傳遞。
此外，利用CarSim整合LabVIEW與DAQmx相關介面卡，做為模擬測試車輛的平台，並將此平台整合至具備容錯與自我修復之FlexRay線傳控制煞車 ECU節點，以設計出具備容錯與自我修復之FlexRay防鎖死煞車系統(ABS) ECU節點。
而在容錯與自我修復驗證分為兩個部分，第一部分為模擬FlexRay實際斷線，當其中一個節點發生故障時，其對應的容錯節點會自動取代已出錯的ECU節點繼續工作，以實現自我修復並維持系統正常的運作;第二部分為透過VN7600與FRstress工具(Vector)來注入FlexRay的錯誤到 FlexRay 通訊網路中，並藉由類比訊號注入的方式，進行容錯與自我修復測試與驗證。
最後，經過上述的驗證與測試後，證明此FlexRay通訊網路是具備容錯與自我修復的功能。

關鍵字

FlexRay ； 容錯 ； 自我修復 ； CAN ； X-by-Wire

並列摘要

Recently, continual advancements in automotive electronics and embedding technology have caused the increase in the number of sensors and Electronic control units (ECUs) installed in vehicles. However, Those ECUs has gradually shifted to embedded applications. Moreover, the safety and reliability of automotive communication networks have received increasing attention.
Considering the growing relevance of automotive communication networks, these fault-tolerant and self-healing FlexRay Drive-by-Wire and FlexRay Brake-by-Wire ECU nodes are developed in the study. In the FlexRay communication network a Hybrid Topology is configured. Besides, in the Controller Area Network (CAN), these Lamp node, Meter node, CAN Monitor and FlexRay/CAN Gateway are developed in the study.
Moreover, the CarSim software with LabVIEW and DAQmx interface cards is utilized to simulate the test environment with vehicles. And this testing environment in the CarSim software is applied to develop a fault-tolerant and self-healing FlexRay Anti-Braking System (ABS) ECU node.
The testing and verification of fault-tolerant and self-healing involves two phases. The first phase simulating disconnection on the FlexRay communication network system; in this system, a node is triggered to malfunction and is replaced by its corresponding fault-tolerant node to achieve self-healing and ensure system operation. The second phase involves employing a FlexRay data analyzer (VN7600) and FRstress (Vector) to inject analogy disturbances into the system and to test its fault-tolerant and self-healing mechanisms.
Finally, these results of the testing and verification in the study confirm the fault-tolerant and self-healing capabilities of the proposed FlexRay communication network.

並列關鍵字

FlexRay ； Fault-Tolerant ； Self-Healing ； CAN ； X-by-Wire

參考文獻

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