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Fig. 3. Reconfiguration-based fault-tolerant ABS BBW architecture dependency graph.

Figure 3 Reconfiguration-based fault-tolerant ABS BBW architecture dependency graph.

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Table 1. Examples of ABS Types
Table 1. Examples of ABS Types
Fig. 1. ABS types summarized in Table 1. A Reconfiguration-Based Fault-Tolerant Anti-Lock Brake-by-Wire System
Fig. 1. ABS types summarized in Table 1. A Reconfiguration-Based Fault-Tolerant Anti-Lock Brake-by-Wire System
Fig. 2. The hardware block diagram of the ABS BBW system.
Fig. 2. The hardware block diagram of the ABS BBW system.
Table 2. Software Dependency Interconnection Gates oe ee Se ee ee eee The R_Speed_Diff_Est software module requires both rear wheels’ speeds to compute the dif- ference between them. Similarly, the F_Speed_Diff_Est software module requires the front wheels’ speeds to compute the difference between them. The R_F_Diff_Est software module computes the F_R_Diff data variable depending on the F_Speed_Diff and the R_Speed_Diff or RD_Speed coming from the speed estimation of the differential.
Table 2. Software Dependency Interconnection Gates oe ee Se ee ee eee The R_Speed_Diff_Est software module requires both rear wheels’ speeds to compute the dif- ference between them. Similarly, the F_Speed_Diff_Est software module requires the front wheels’ speeds to compute the difference between them. The R_F_Diff_Est software module computes the F_R_Diff data variable depending on the F_Speed_Diff and the R_Speed_Diff or RD_Speed coming from the speed estimation of the differential.
Fig. 4. Proposed system reliability dependency on individual component reliabilities. whenever the ABS ECU stops functioning normally, it is possible to migrate the ABS_Control_drv software task to the ESC ECU replacing the TCS_Control_drv software module. This would cause the system to gracefully degrade by terminating the traction control functionality but will guar- antee the ABS to remain functioning normally. GALILEE ULI SAD) LU LOLlidil SUI I aa EAI OLY During task migration, it is required that the migrated task is restarted on the replacement PE starting from the point where it failed at on the faulty PE. To guarantee this requirement and because today’s embedded systems are distributed and software tasks depend on multiple inputs collected from all over the distributed system, the status of the migrated task should be continuously checkpointed. This would guarantee to roll back the migrated task to a consistent state when it is restarted on the replacement PE (Sababha and Rawashdeh 2011; Sababha anc Rawashdeh 2012).
Fig. 4. Proposed system reliability dependency on individual component reliabilities. whenever the ABS ECU stops functioning normally, it is possible to migrate the ABS_Control_drv software task to the ESC ECU replacing the TCS_Control_drv software module. This would cause the system to gracefully degrade by terminating the traction control functionality but will guar- antee the ABS to remain functioning normally. GALILEE ULI SAD) LU LOLlidil SUI I aa EAI OLY During task migration, it is required that the migrated task is restarted on the replacement PE starting from the point where it failed at on the faulty PE. To guarantee this requirement and because today’s embedded systems are distributed and software tasks depend on multiple inputs collected from all over the distributed system, the status of the migrated task should be continuously checkpointed. This would guarantee to roll back the migrated task to a consistent state when it is restarted on the replacement PE (Sababha and Rawashdeh 2011; Sababha anc Rawashdeh 2012).
Fig. 5. A non-series/parallel reliability model of the proposed ABS BBW system. A Reconfiguration-Based Fault-Tolerant Anti-Lock Brake-by-Wire System
Fig. 5. A non-series/parallel reliability model of the proposed ABS BBW system. A Reconfiguration-Based Fault-Tolerant Anti-Lock Brake-by-Wire System
Fig. 9. Overall system reliability of the pro- posed system vs. a non-fault-tolerant sys- tem when Rg =RC=Rp=RE=Rp=R/4 and Rg = RG =R. Fig. 7. Overall system reliability of the pro- posed system vs. a non-fault-tolerant sys- tem when Ry = Rc =Rp =Re = Re = R/2 and Rg = RG =R.
Fig. 9. Overall system reliability of the pro- posed system vs. a non-fault-tolerant sys- tem when Rg =RC=Rp=RE=Rp=R/4 and Rg = RG =R. Fig. 7. Overall system reliability of the pro- posed system vs. a non-fault-tolerant sys- tem when Ry = Rc =Rp =Re = Re = R/2 and Rg = RG =R.
Fig. 10. Overall system reliability of the pro- posed system vs. a non-fault-tolerant system in the time domain when J = 0.01. In this work, and as proof of concept, it is assumed that the failure rate A for all blocks are equal. Figures 10, 11, 12, and 13 represent the reliability of the proposed ABS architecture versus the conventional architecture in the time domain when the failure rate is 0.01, 0.1, 0.15, and 0.2, respectively. In all cases, it could be concluded that the proposed architecture improves the overall ABS system reliability.
Fig. 10. Overall system reliability of the pro- posed system vs. a non-fault-tolerant system in the time domain when J = 0.01. In this work, and as proof of concept, it is assumed that the failure rate A for all blocks are equal. Figures 10, 11, 12, and 13 represent the reliability of the proposed ABS architecture versus the conventional architecture in the time domain when the failure rate is 0.01, 0.1, 0.15, and 0.2, respectively. In all cases, it could be concluded that the proposed architecture improves the overall ABS system reliability.
A Reconfiguration-Based Fault-Tolerant Anti-Lock Brake-by-Wire System
A Reconfiguration-Based Fault-Tolerant Anti-Lock Brake-by-Wire System
Fig. 13. Overall system reliability of the pro- posed system vs. a non-fault-tolerant system in the time domain when A = 0.2. Fig. 11. Overall system reliability of the pro- posed system vs. a non-fault-tolerant system in the time domain when A = 0.1.
Fig. 13. Overall system reliability of the pro- posed system vs. a non-fault-tolerant system in the time domain when A = 0.2. Fig. 11. Overall system reliability of the pro- posed system vs. a non-fault-tolerant system in the time domain when A = 0.1.
Related topics:
Computer ScienceFault Tolerant ComputingDistributed ComputingEmbedded SystemsComputer HardwareEmbedded and Reconfigurable SystemsBrake SystemReal Time Embedded SystemsEmbedded System DesignFault Injection
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