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초록

The modern automotive industry is experiencing a surge in in-vehicle data traffic due to the integration of autonomous driving, Advanced Driver Assistance Systems (ADAS), and infotainment systems. In this environment, efficient integration between CAN-based networks and Ethernet-based networks has emerged as a critical challenge. This paper proposes a PDU Aggregation Algorithm (PAA) to address the Ethernet frame overhead problem and the delay issues encountered in the Time-Aware Shaper (TAS) mechanism of Time-Sensitive Networking (TSN). The proposed algorithm improves transmission efficiency by aggregating Protocol Data Units (PDUs) from multiple CAN messages into a single Ethernet frame. It enhances quality of service (QoS) by aggregating PDUs while the TAS gate is closed and transmitting them immediately when the gate opens. Experimental results show that when CAN bus load exceeds 25%, PAA reduces average latency by up to 36% compared to conventional methods, with significant improvements in both average and maximum latency under high load conditions. This demonstrates that PDU aggregation can effectively reduce Ethernet frame overhead while maintaining deterministic timing characteristics by leveraging gate closure times within the TSN environment.

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