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 Define Accident Solution Distribute cause long long long long long long time … time … 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) ✔ Accelerator ECU Engine

Critical Function ECU A Sensor ECU A Sensor Actuator Actuator ECU B Standard Affordable ECU B Initial Non-critical Function Safety Cost

Cost Reduction Cost mission take-over different functional units ECU 1 ECU 1 sensors & sensors & 2𝑂 actuators actuators ECU 2 ECU 2 monitor status redundant unit mission take-over monitor status & trigger migration ❷ ❶ 𝑂 Master ECU ECU ECU 2𝑂 − ෍ 𝑆𝑓𝑞𝑚𝑏𝑑𝑓 𝜐 ∗ 𝐷𝑏𝑞𝑏𝑑𝑗𝑢𝑧(𝑋 𝜐 ) 𝑠=1 Network ❶ ❷ sensors & sensors & mutual actuators actuators connection

Implementation of LEGO Vehicle

Results using Migration Detect and Cut-off 120 SUA DUMP COPY RESTORE Src. 115 Speed(RPM) Dest. FORK 110 ECU Routing 105 100 Time(s) 0 1 2 3 4 5 6 7 8

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