Fault-tolerance of Heterogeneous Distributed Mixed-criticality Real-time Systems

Beschreibung

Fault tolerance is crucial for fully autonomous vehicles since there is no human driver to take over in case of a malfunction. Typically, fault tolerance is ensured by incorporating redundant Electronic Control Units (ECUs) into such vehicles. Modern vehicles rely on complex, heterogeneous real-time systems that integrate both signal- and service-oriented hardware and software architectures. The objective of the presented thesis is a novel hypervisor-based fault tolerance approach for heterogeneous real-time systems (HyFAR), which is based on the largely unexplored concept of migrating software in a highly heterogeneous real-time system using virtualization technology. This thesis elaborates the holistic fault tolerance approach HyFAR, which consists of the four steps Fault Detection, Fault Containment, Fault Recovery and System Reconnection. Timing models for the overall approach and each single step were elaborated and supplemented with measurements. The process of recovering critical service-oriented software using a signal-oriented hardware and vice versa is examined. The freedom from interference of signal-oriented and service-oriented software is examined and measured for various possible implementations. Furthermore, a detailed overview of the effects of emulation, virtualization, separation and the type of the hypervisor towards the recovery time and the freedom from interference is given. The results demonstrate that recovering critical service-oriented software using signal-oriented hardware is limited due to missing middle-ware and virtualization support and resource scarcity. However, recovering critical signal-oriented software using a service-oriented hardware is feasible, while a subset of the original service-oriented software can be executed concurrently on the same hardware.

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Johannes Lex

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real-time fault-tolerance virtualization

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