Distributed coordination of task migration for fault-tolerant FlexRay networks

In this paper we present an approach to increase the fault tolerance in FlexRay networks by introducing backup nodes to replace defect ECUs (Electronic Control Units). In order to reduce the memory requirements of such backup nodes, we distribute redundant tasks over different nodes and propose the distributed coordinated migration of tasks of the defect ECU to the backup node at runtime. This approach enhances our former work in, where we extended the FlexRay bus schedule by redundant slots to consider changes in the communication/slot assignment and investigated and evaluated different solutions to migrate the redundant tasks to the backup node using the static and/or dynamic segment of the communication cycle for transmissions. We present the approach of distributed coordination for migration and communication instead of additional dedicated coordinator nodes to further increase the fault tolerance. With this approach we improve the safety of FlexRay networks by avoiding a possible single point of failure due to a dedicated coordinator node also minimizing the necessary time needed for a reconfiguration after an ECU failure. Furthermore, we reduce the overhead within the communication and the demand for additional hardware components.