This thesis details the development and experimental evaluation of a Controller Area Network (CAN) to Time-Sensitive Networking (TSN) gateway. As modern vehicles incorporate increasingly complex functionalities, the traditional CAN system falls short in terms of data handling capacities and transmission speeds. This study explores the integration of CAN with TSN. Experimental setups evaluate various gateway forwarding strategies, which are different in the number of CAN frames encapsulated into a single TSN frame and the methods of this mapping, to assess their impact on system performance, including response times and bandwidth utilization. Through a series of controlled experiments, the gateway's performance is analyzed across different TSN switch configurations and additional network traffic scenarios to understand their effects on data transmission. The experimental evaluation, conducted within an unsynchronized network environment, proved that encapsulation and transmission of a single CAN frame over the TSN network most effectively minimizes end-to-end delays. However, this strategy results in poor network bandwidth utilization due to significant TSN frame overhead, and it should be carefully considered when dealing with CAN domains that handle a large number of messages, especially with larger payloads that are introduced with CAN Flexible Data-Rate (FD). Additionally, we investigated the use of Time-Aware Shaper (TAS) and Weighted Round Robin (WRR) scheduling under unsynchronized conditions in TSN. Our findings highlight the advantages of employing WRR as a traffic scheduler, offering enhanced performance in scenarios lacking synchronization between network devices. Challenges were identified with TAS, which may arise from its dependence on precise time synchronization.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:mdh-67107 |
| Date | January 2024 |
| Creators | Kraljusic, Benjamin, Zahirovic, Nejla |
| Publisher | Mälardalens universitet, Akademin för innovation, design och teknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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