Network-Centric Approach Using Task Migration for Drive-by-Wire - - PowerPoint PPT Presentation

Network-Centric Approach Using Task Migration for Drive-by-Wire Vehicle Resilience

Jeanseong Baik, Haegeon Jeong, Kyungtae Kang* Computer Science and Engineering, Hanyang University

ICNP 2020

Rise of the Autonomous Vehicles

Solution Define cause Accident Distribute long long time … long long time … long long time …

Seamless services

Task migration + Network-centric

Vehicle accident

Sudden unintended acceleration

• Suppose Three vehicles driving in same speed, and the middle vehicle

suddenly accelerates

• Unintended, unexpected, uncontrolled acceleration of a vehicle
• Cause: Control failure of ECU (Electronic Control Unit)

Engine ECU Accelerator

✔

Actuator Sensor ECU A Sensor Actuator ECU B ECU A ECU B

Critical Function Non-critical Function Safety Cost Affordable Initial Standard

ECU ECU monitor status & trigger migration mission take-over mutual connection Master ECU sensors & actuators sensors & actuators Network

❶ ❶ ❷ ❷

ECU 1 ECU 2 ECU 1 ECU 2 sensors & actuators sensors & actuators redundant unit different functional units monitor status mission take-over

2𝑂

2𝑂 − ෍

𝑠=1 𝑂

𝑆𝑓𝑞𝑚𝑏𝑑𝑓 𝜐 ∗ 𝐷𝑏𝑞𝑏𝑑𝑗𝑢𝑧(𝑋

𝜐)

Cost Reduction

Cost

Implementation of LEGO Vehicle

SUA DUMP RESTORE FORK Detect and Cut-off COPY ECU Routing

1 2 3 4 5 6 7 8 120 115 110 105 100

Speed(RPM)

Time(s)

Src. Dest.

Results using Migration

Avoiding Sudden unintended acceleration

• Monitoring all nodes with central node
• Sustaining the process state (Copy and paste to secondary node)
• Knows the speed, direction, etc.

Conclusion

• Implemented a task migration method on a single Lego vehicle
• Recovers dead-end functions to avoid collisions
• Overcome the limitations of the SPOF
• utilized the network connectivity of ECUs and used task migration techniques between

ECUs to sustain the critical functions.

• Three main advantages
• Maintains the main state of the previous task
• Whenever a central ECU detects a fault with an observed ECU,

it will identify a replaceable ECU dynamically

• It is cost-effective because this method guarantees safety using existing mutually

connected ECUs without redundant ECUs.

Thank you.

jsbaik@hanyang.ac.kr