FlexRay 기반 차선유지장치의 제어알고리즘과 통신 동기화에 따른 제어성능 분석

Abstract

FlexRay has become a necessity in next generation in-vehicle network(IVN) protocol due to high bandwidth and deterministic advantages over Controller Area Network(CAN) protocol. However, since many electronic control systems are developed for the CAN protocol for their IVN communication, the migration from CAN-based control systems to FlexRay-based control systems is required. Two migrating approaches are available. The first approach is CAN-based legacy applications which are reused without any synchronization among applications. The second approach is to redesign the application with synchronization using the deterministic feature of FlexRay. The first method is simpler than the second, because it can reduce redevelopment cost and time. However, in the first approach, asynchronization among applications can cause network delays and jitter in a control loop more than CAN-based control systems. The delay and jitter in a control loop can degrade control performance in FlexRay-based control systems. In this study, I analyzed the effect on control performance according to synchronization among applications in a FlexRay-based lane keeping system. The result from simulation showed the synchronous system could reduce the degradation of control performance in a FlexRay-based lane keeping system.