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A QoS Aware Approach to Service-Oriented Communication in Future Automotive Networks Mehmet C akir , Timo H ackel, Sandra Reider, Philipp Meyer, Franz Korf and Thomas C. Schmidt 4 December 6 December 2019, Los Angeles, California 2019

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A QoS Aware Approach to Service-Oriented Communication in Future Automotive Networks

Mehmet C ¸akir, Timo H¨ ackel, Sandra Reider, Philipp Meyer, Franz Korf and Thomas C. Schmidt 4 December – 6 December 2019, Los Angeles, California 2019 IEEE Vehicular Networking Conference (VNC)

  • Dept. Computer Science, Hamburg University of Applied Sciences, Germany

{mehmet.cakir, timo.haeckel, sandra.reider, philipp.meyer, franz.korf, t.schmidt}@haw-hamburg.de

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Outline

  • 1. Introduction to In-Vehicle Networks
  • 2. Automotive Service Classification
  • 3. Middleware for QoS Aware Communication
  • 4. Performance Evaluation
  • 5. Conclusion & Outlook

1

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In-Vehicle Networks - State of the Art

  • Scenarios such as Autonomous driving and V2X pose new challenges on in-vehicle networks
  • Automotive services have heterogeneous communication requirements
  • Ethernet as high-bandwidth communication medium replaces legacy bus systems
  • SOME/IP introduces Service-Oriented Architecture (SOA) and promises flexibility
  • Time-Sensitive Networking (TSN) provides Quality-of-Service (QoS) with hard deadlines

2

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In-Vehicle Networks - State of the Art

  • Scenarios such as Autonomous driving and V2X pose new challenges on in-vehicle networks
  • Automotive services have heterogeneous communication requirements
  • Ethernet as high-bandwidth communication medium replaces legacy bus systems
  • SOME/IP introduces Service-Oriented Architecture (SOA) and promises flexibility
  • Time-Sensitive Networking (TSN) provides Quality-of-Service (QoS) with hard deadlines

A mechanism is missing that merges the concepts of SOA and QoS-enhanced communication for dynamically changing communication relations.

2

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Our Contributions

  • We derived four QoS classes based on automotive service requirements
  • We developed an automotive specific multi-protocol stack
  • We designed a protocol for dynamic QoS agreements
  • We evaluated the performance of our middleware in simulation

3

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Classification of Automotive Services

Examples Description Class

4

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Classification of Automotive Services

Examples Description Class

Globaly accessible high- level services Web-based Services (WS) Infotainment, Smart City 4

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Classification of Automotive Services

Examples Description Class

Globaly accessible high- level services IP-based Services (IPS) Web-based Services (WS) Infotainment, Smart City Non time-critical car control Temperature, Windows Regulator 4

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Classification of Automotive Services

Examples Description Class

Globaly accessible high- level services IP-based Services (IPS) Real-Time Services (RTS) Web-based Services (WS) Infotainment, Smart City Non time-critical car control Temperature, Windows Regulator Time-critical car control Electronic Stability Control, Rear Camera 4

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Classification of Automotive Services

Examples Description Class

Globaly accessible high- level services IP-based Services (IPS) Real-Time Services (RTS) Web-based Services (WS) Infotainment, Smart City Non time-critical car control Temperature, Windows Regulator Time-critical car control Electronic Stability Control, Rear Camera Dynamic Middleware Services 4

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Classification of Automotive Services

Examples Description Class

Globaly accessible high- level services IP-based Services (IPS) Real-Time Services (RTS) Static Real-Time Services (SRTS) Web-based Services (WS) Infotainment, Smart City Non time-critical car control Temperature, Windows Regulator Time-critical car control Electronic Stability Control, Rear Camera Safety- & time-critical car control Airbag, Brakes Dynamic Middleware Services 4

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Classification of Automotive Services

Examples Description Class

Globaly accessible high- level services IP-based Services (IPS) Real-Time Services (RTS) Static Real-Time Services (SRTS) Web-based Services (WS) Infotainment, Smart City Non time-critical car control Temperature, Windows Regulator Time-critical car control Electronic Stability Control, Rear Camera Safety- & time-critical car control Airbag, Brakes Dynamic Middleware Services Static Non-Middleware Services

An in−depth explanation can be found in the paper.

4

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Multiprotocol Approach

7 Application 6 Presentation 5 Session 4 Transport 3 Network 2 Data Link Services QoS Middleware

WS IPS S/RTS

HTTP SOME/IP

(optional)

HTTP SOME/IP

(optional)

TCP UDP IP IP Time-Sensitive Networking enabled Ethernet Time-Sensitive Networking enabled Ethernet

5

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QoS-Negotiation Protocol

Subscriber Side Subscriber Side Publisher Side Publisher Side

Stage 2: Connection Stage 2: Connection Stage 1: Handshake Stage 1: Handshake register register

Publisher Application Subscriber Application Middleware Middleware 6

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QoS-Negotiation Protocol

Subscriber Side Subscriber Side Publisher Side Publisher Side start

Stage 2: Connection Stage 2: Connection Stage 1: Handshake Stage 1: Handshake register register register register

Publisher Application Subscriber Application Middleware Middleware 6

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QoS-Negotiation Protocol

Subscriber Side Subscriber Side Publisher Side Publisher Side start QoSRequest Check Request

Stage 2: Connection Stage 2: Connection

QoSResponse

Stage 1: Handshake [Service exists] Stage 1: Handshake [Service exists] register register register register

Publisher Application Subscriber Application Middleware Middleware

negotiate negotiate

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QoS-Negotiation Protocol

Subscriber Side Subscriber Side Publisher Side Publisher Side start QoSRequest Check Request Create Endpoint

Stage 2: Connection [Stage1 Success] Stage 2: Connection [Stage1 Success]

QoSResponse ConnectionRequest

Stage 1: Handshake [Service exists] Stage 1: Handshake [Service exists] register register deliver deliver register register

Publisher Application Subscriber Application Middleware Middleware Endpoint

negotiate negotiate

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QoS-Negotiation Protocol

Subscriber Side Subscriber Side Publisher Side Publisher Side start QoSRequest Check Request Create Endpoint ConnectionResponse

Stage 2: Connection [Stage1 Success] Stage 2: Connection [Stage1 Success]

Create Endpoint QoSResponse ConnectionRequest

Stage 1: Handshake [Service exists] Stage 1: Handshake [Service exists] register register deliver deliver register register deliver deliver

Publisher Application Subscriber Application Middleware Middleware Endpoint Endpoint

negotiate negotiate

6

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QoS-Negotiation Protocol

Subscriber Side Subscriber Side Publisher Side Publisher Side start QoSRequest Check Request Create Endpoint ConnectionResponse

Stage 2: Connection [Stage1 Success] Stage 2: Connection [Stage1 Success]

Create Endpoint Finished QoSResponse ConnectionRequest

Stage 1: Handshake [Service exists] Stage 1: Handshake [Service exists] register register deliver deliver register register deliver deliver

Publisher Application Subscriber Application Middleware Middleware Endpoint Endpoint

negotiate negotiate publish publish

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Performance Evaluation

  • Impact of cross-traffic on the latency of different QoS classes
  • Scaling of setup time in relation to the number of services
  • Setup time in a realistic automotive network with cross-traffic

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Latency Behaviour of Mixing Different QoS Classes

Publisher Node RTSSubscriber CT Node 1 CT Node 2 Critical Link IPSSubscriber Switch 1 Switch 2 Cross Traffic ≈ 950Mbit/s Linkspeed: 1Gbit/s

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Latency Behaviour of Mixing Different QoS Classes

0.5 0.55 0.6 0.65 0.7 0.75 0.8 20 30 40 50 Simulation time [s] LEnd2End [µs]

Publisher Node RTSSubscriber CT Node 1 CT Node 2 Critical Link IPSSubscriber Switch 1 Switch 2 Cross Traffic ≈ 950Mbit/s Linkspeed: 1Gbit/s

9

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Latency Behaviour of Mixing Different QoS Classes

0.5 0.55 0.6 0.65 0.7 0.75 0.8 20 30 40 50 Simulation time [s] LEnd2End [µs]

IPS

Publisher Node RTSSubscriber CT Node 1 CT Node 2 Critical Link IPSSubscriber Switch 1 Switch 2 Cross Traffic ≈ 950Mbit/s Linkspeed: 1Gbit/s

9

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Latency Behaviour of Mixing Different QoS Classes

0.5 0.55 0.6 0.65 0.7 0.75 0.8 20 30 40 50 LAVBMAX Simulation time [s] LEnd2End [µs]

IPS

Publisher Node RTSSubscriber CT Node 1 CT Node 2 Critical Link IPSSubscriber Switch 1 Switch 2 Cross Traffic ≈ 950Mbit/s Linkspeed: 1Gbit/s

LAVBmax = tMTU + 3 · tAVBFrame + 2 · tSwitchdelay + IPG + 2 · tNodedelay

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Latency Behaviour of Mixing Different QoS Classes

0.5 0.55 0.6 0.65 0.7 0.75 0.8 20 30 40 50 LAVBMAX Simulation time [s] LEnd2End [µs]

IPS RTS

Publisher Node RTSSubscriber CT Node 1 CT Node 2 Critical Link IPSSubscriber Switch 1 Switch 2 Cross Traffic ≈ 950Mbit/s Linkspeed: 1Gbit/s

LAVBmax = tMTU + 3 · tAVBFrame + 2 · tSwitchdelay + IPG + 2 · tNodedelay

9

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Latency Behaviour of Mixing Different QoS Classes

0.5 0.55 0.6 0.65 0.7 0.75 0.8 20 30 40 50 LAVBMAX Simulation time [s] LEnd2End [µs]

IPS RTS

Publisher Node RTSSubscriber CT Node 1 CT Node 2 Critical Link IPSSubscriber Switch 1 Switch 2 Cross Traffic ≈ 950Mbit/s Linkspeed: 1Gbit/s

LAVBmax = tMTU + 3 · tAVBFrame + 2 · tSwitchdelay + IPG + 2 · tNodedelay Result: QoS can be guaranteed for heterogeneous client requirements

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Setup Times with Increasing Numbers of Nodes

Publisher Node 1 10 . . . Switch 1 Switch 2 IPSSubscriber Linkspeed: 100Mbit/s

10

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Setup Times with Increasing Count of Nodes

2 4 6 8 10 50 100 150 200

  • No. of Subscriber Nodes

Setup Time [µs]

  • No. of Publisher Services

1

Publisher Node 1 10 . . . Switch 1 Switch 2 IPSSubscriber Linkspeed: 100Mbit/s

11

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Setup Times with Increasing Count of Nodes

2 4 6 8 10 50 100 150 200

  • No. of Subscriber Nodes

Setup Time [µs]

  • No. of Publisher Services

1 2

Publisher Node 1 10 . . . Switch 1 Switch 2 IPSSubscriber Linkspeed: 100Mbit/s

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Setup Times with Increasing Count of Nodes

2 4 6 8 10 50 100 150 200

  • No. of Subscriber Nodes

Setup Time [µs]

  • No. of Publisher Services

1 2 3 4 5 6 7 8 9 10

Publisher Node 1 10 . . . Switch 1 Switch 2 IPSSubscriber Linkspeed: 100Mbit/s

Result: The behaviour of the setup time is linear with the number of negotiations

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Setup Times with Increasing Count of Nodes

2 4 6 8 10 50 100 150 200

  • No. of Subscriber Nodes

Setup Time [µs]

  • No. of Publisher Services

1 2 3 4 5 6 7 8 9 10

Publisher Node 1 10 . . . Switch 1 Switch 2 IPSSubscriber Linkspeed: 100Mbit/s

From 40 simultaneous negotiations the maximum bandwidth of 100 Mbit/s is exceeded and the network traffic be- comes congested. Result: The behaviour of the setup time is linear with the number of negotiations

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Setup Times in a Realistic Automotive Network with Cross-Traffic

Legend: Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 6 11 4 5 3 1 8 12

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Setup Times in a Realistic Automotive Network with Cross-Traffic

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 13

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Setup Times in a Realistic Automotive Network with Cross-Traffic

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6

Linkspeed: 1Gbit/s 13

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 50 100 150 200 Cross Traffic [MBit/s] Setup Time [ms]

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 50 100 150 200 Cross Traffic [MBit/s] Setup Time [ms]

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

Maximum system setup time in cars is ≈ 150 ms to 200 ms.

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 50 100 150 200 Cross Traffic [MBit/s] Setup Time [ms]

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

The measured setup time is well below the requirements.

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 1 2 3 4 Cross Traffic [MBit/s] Setup Time [ms]

Min Mean Max

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 1 2 3 4 Cross Traffic [MBit/s] Setup Time [ms]

Min Mean Max

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

With cross-traffic of around 300 Mbit/s the setup time takes ≈ 1 ms.

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 1 2 3 4 Cross Traffic [MBit/s] Setup Time [ms]

Min Mean Max

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

From cross-traffic of around 700 Mbit/s the setup time rises exponentially and negotiations might not finish in time.

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Setup Times in a Realistic Automotive Network with Cross-Traffic

200 400 600 800 1,000 1 2 3 4 Cross Traffic [MBit/s] Setup Time [ms]

Min Mean Max

Legend: 1 1 1 1 1 2 7 1 2 1 2 1 1 1 1 1 6 1 1 1 3 1 Gateway CAN0 Switch CAN1 CAN2 CAN3 CAN4 CAN5 CAN6 Linkspeed: 1Gbit/s

From cross-traffic of around 700 Mbit/s the setup time rises exponentially and negotiations might not finish in time. Result: The setup time complies with automotive requirements of ≈ 150 ms to 200 ms

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Conclusion & Outlook

Summary

  • Introduced four QoS classes with a multi-protocol stack
  • Presented a dynamic QoS negotiation protocol
  • Showed successful support of mixed-critical communication
  • Achieved acceptable setup-times in a realistic automotive network
  • Implemented and evaluated with OMNeT++ Discrete Event Simulator

Sourcecode available at: https://github.com/CoRE-RG/SOQoSMW Future Work

  • Determine real-world runtime delays with real car components

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A QoS Aware Approach to Service-Oriented Communication in Future Automotive Networks

Contact: Mehmet C ¸akir mehmet.cakir@haw-hamburg.de

  • Dept. Computer Science, Hamburg University of Applied Sciences, Germany

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