A Google Congestion Control
Algorithm for Real-Time Communication on the World Wide WebGoogleKungsbron 2Stockholm11122SwedenGoogleKungsbron 2Stockholm11122Swedenholmer@google.comGoogleKungsbron 2Stockholm11122Swedenharald@alvestrand.noThis document describes two methods of congestion control when using
real-time communications on the World Wide Web (RTCWEB); one
sender-based and one receiver-based.It is published to aid the discussion on mandatory-to-implement flow
control for RTCWEB applications; initial discussion is expected in the
RTCWEB WG's mailing list.The key words "MUST", "MUST NOT", "REQUIRED", "SHALL", "SHALL NOT",
"SHOULD", "SHOULD NOT", "RECOMMENDED", "MAY", and "OPTIONAL" in this
document are to be interpreted as described in RFC 2119.Congestion control is a requirement for all applications that wish to
share the Internet .The problem of doing congestion control for real-time media is made
difficult for a number of reasons:The media is usually encoded in forms that cannot be quickly
changed to accomodate varying bandwidth, and bandwidth requirements
can often be changed only in discrete, rather large stepsThe participants may have certain specific wishes on how to
respond - which may not be reducing the bandwidth required by the
flow on which congestion is discoveredThe encodings are usually sensitive to packet loss, while the
real time requirement precludes the repair of packet loss by
retransmissionThis memo describes two congestion control algorithms that
together are seen to give reasonable performance and reasonable (not
perfect) bandwidth sharing with other conferences and with TCP-using
applications that share the same links.The signalling used consists of standard RTP timestamps , standard RTCP feedback reports and Temporary
Maximum Media Stream Bit Rate Requests (TMMBR) as defined in section 3.5.4.The mathematics of this document have been transcribed from a more
formula-friendly format.The following notational conventions are used:The variable X, where X is a vector -
conventionally marked by a bar on top of the variable name.An estimate of the true value of variable X -
conventionally marked by a circumflex accent on top of the
variable name.The "i"th value of X - conventionally marked by
a subscript i.A row vector consisting of elements x, y and
z.The transpose of vector X_bar.The expected value of the stochastic variable
XThe following elements are in the system:Incoming media streamMedia codec - has a bandwidth control, and encodes the incoming
media stream into an RTP stream.RTP sender - sends the RTP stream over the network to the RTP
receiver. Generates the RTP timestamp.RTP receiver - receives the RTP stream, notes the time of
arrival. Regenerates the media stream for the recipient.RTCP sender at RTP sender - sends sender reports.RTCP sender at RTP receiver - sends receiver reports and TMMBR
messages.RTCP receiver at RTP sender - receives receiver reports and TMMBR
messages, reports these to sender side control.RTCP receiver at RTP receiver.Sender side control - takes loss rate info, round trip time info,
and TMMBR messages and computes a sending bitrate.Receiver side control - takes the packet arrival info at the RTP
receiver and decides when to send TMMBR messages.Together, sender side control and receiver side control
implement the congestion control algorithm.The receive-side algorithm can be further decomposed into three
parts: an arrival-time filter, an over-use detector, and a remote
rate-control.This section describes an adaptive filter that continuously updates
estimates of network parameters based on the timing of the received
frames.At the receiving side we are observing groups of incoming video
packets, where each group of packets corresponding to the same frame
having timestamp T(i).Each frame is assigned a receive time t(i), which corresponds to
the time at which the whole frame has been received (ignoring any
packet losses). A frame is delayed relative to its predecessor if
t(i)-t(i-1)>T(i)-T(i-1), i.e., if the arrival time difference is
larger than the timestamp difference.We define the (relative) inter-arrival time, d(i) asSince the time ts to send a frame of size L over a path with a
capacity of C iswe can model the inter-arrival time asHere, w(i) is a sample from a stochastic process W, which is a
function of the capacity C, the current cross traffic X(i), and the
current send bit rate R(i). We model W as a white Gaussian process. If
we are over-using the channel we expect w(i) to increase, and if a
queue on the network path is being emptied, w(i) will decrease;
otherwise the mean of w(i) will be zero.Breaking out the mean of w(i) to make the process zero mean, we
getThis is our fundamental model, where we take into account that a
large frame needs more time to traverse the link than a small frame,
thus arriving with higher relative delay. The noise term represents
network jitter and other delay effects not captured by the model.When graphing the values for d(i) versus dL(i) on a scatterplot, we
find that most samples cluster around the center, and the outliers are
clustered along a line with average slope 1/C and zero offset.When using a regular video codec, most frames are roughly the same
size after encoding (the central “cloud”); the exceptions
are I-frames (or key frames) which are typically much larger than the
average causing positive outliers (the I-frame itself) and negative
outliers (the frame after an I-frame) on the dL axis.The parameters d(i) and dL(i) are readily available for each frame
i, and we want to estimate C and m(i) and use those estimates to
detect whether or not we are over-using the bandwidth currently
available. These parameters are easily estimated by any adaptive
filter – we are using the Kalman filter.Letand call it the state of time i. We model the state evolution from
time i to time i+1 aswhere u_bar(i) is the zero mean white Gaussian process noise with
covarianceGiven equation 5 we getwhere v(i) is zero mean white Gaussian measurement noise with
variance var_v = sigma(v,i)^2The Kalman filter recursively updates our estimateasI is the 2-by-2 identity matrix.The variance var_v = sigma(v,i)^2 is estimated using an exponential
averaging filter, modified for variable sampling ratewhere f_max = max {1/(T(j) - T(j-1))} for j in i-K+1...i is the
highest rate at which frames have been captured by the camera the last
K frames and alpha is a filter coefficient typically chosen as a
number in the interval [0.1, 0.001]. Since our assumption that v(i)
should be zero mean WGN is less accurate in some cases, we have
introduced an additional outlier filter around the updates of
var_v_hat. If z(i) > 3 var_v_hat the filter is updated with 3
sqrt(var_v_hat) rather than z(i). In a similar way, Q(i) is chosen as
a diagonal matrix with main diagonal elements given byIt is necessary to scale these filter parameters with the frame
rate to make the detector respond as quickly at low frame rates as at
high frame rates.The offset estimate m(i) is compared with a threshold gamma_1. An
estimate above the threshold is considered as an indication of
over-use. Such an indication is not enough for the detector to signal
over-use to the rate control subsystem. Not until over-use has been
detected for at least gamma_2 milliseconds and at least gamma_3
frames, a definitive over-use will be signaled. However, if the offset
estimate m(i) was decreased in the last update, over-use will not be
signaled even if all the above conditions are met. Similarly, the
opposite state, under-use, is detected when m(i) < -gamma_1. If
neither over-use nor under-use is detected, the detector will be in
the normal state.The rate control at the receiving side is designed to increase the
available bandwidth estimate A_hat as long as the detected state is
normal. Doing that assures that we, sooner or later, will reach the
available bandwidth of the channel and detect an over-use.As soon as over-use has been detected the available bandwidth
estimate is decreased. In this way we get a recursive and adaptive
estimate of the available bandwidth.In this document we make the assumption that the rate control
subsystem is executed periodically and that this period is
constant.The rate control subsystem has 3 states: Increase, Decrease and
Hold. "Increase" is the state when no congestion is detected;
"Decrease" is the state where congestion is detected, and "Hold" is a
state that waits until built-up queues have drained before going to
"increase" state.The state transitions (with blank fields meaning "remain in state")
are:The subsystem starts in the increase state, where it will stay
until over-use or under-use has been detected by the detector
subsystem. On every update the available bandwidth is increased with a
factor which is a function of the global system response time and the
estimated measurement noise variance var_v_hat. The global system
response time is the time from an increase that causes over-use until
that over-use can be detected by the over-use detector. The variance
var_v_hat affects how responsive the Kalman filter is, and is thus
used as an indicator of the delay inflicted by the Kalman filter.Here, B, b, d, c1 and c2 are design parameters.Since the system depends on over-using the channel to verify the
current available bandwidth estimate, we must make sure that our
estimate doesn’t diverge from the rate at which the sender is
actually sending. Thus, if the sender is unable to produce a bit
stream with the bit rate the receiver is asking for, the available
bandwidth estimate must stay within a given bound. Therefore we
introduce a thresholdwhere R_hat(i) is the incoming bit rate measured over a T seconds
window:N(i) is the number of frames received the past T seconds and L(j)
is the payload size of frame j.When an over-use is detected the system transitions to the decrease
state, where the available bandwidth estimate is decreased to a factor
times the currently incoming bit rate.alpha is typically chosen to be in the interval [0.8, 0.95].When the detector signals under-use to the rate control subsystem,
we know that queues in the network path are being emptied, indicating
that our available bandwidth estimate is lower than the actual
available bandwidth. Upon that signal the rate control subsystem will
enter the hold state, where the available bandwidth estimate will be
held constant while waiting for the queues to stabilize at a lower
level – a way of keeping the delay as low as possible. This
decrease of delay is wanted, and expected, immediately after the
estimate has been reduced due to over-use, but can also happen if the
cross traffic over some links is reduced. In either case we want to
measure the highest incoming rate during the under-use interval:where K is the number of frames of under-use before returning to
the normal state. R_max is a measure of the actual bandwidth available
and is a good guess of what bit rate the sender should be able to
transmit at. Therefore the available bandwidth will be set to Rmax
when we transition from the hold state to the increase state.One design decision is when to send rate control messages. The time
from a change in congestion to the sending of the feedback message is
a limitation on how fast the sender can react. Sending too many
messages giving no new information is a waste of bandwidth - but in
the case of severe congestion, feedback messages can be lost,
resulting in a failure to react in a timely manner.The conclusion is that feedback messages should be sent on a
"heartbeat" schedule, allowing the sender side control to react to
missing feedback messages by reducing its send rate, but they should
also be sent whenever the estimated bandwidth value has changed
significantly, without waiting for the heartbeat time, up to some
limiting upper bound on the send rate.The minimum interval is named t_min_fb_interval.The maximum interval is named t_max_fb_interval.The permissible values of these intervals will be bounded by the
RTP session's RTCP bandwidht and its rtcp_frr setting.[TODO: Get some example values for these timers]An additional congestion controller resides at the sending side. It
bases its decisions on the round-trip time, packet loss and available
bandwidth estimates transmitted from the receiving side.The available bandwidth estimates produced by the receiving side are
only reliable when the size of the queues along the channel are large
enough. If the queues are very short, over-use will only be visible
through packet losses, which aren't used by the receiving side
algorithm.This algorithm is run every time a receive report arrives at the
sender, which will happen no more often than t_min_fb_interval, and no
less often than t_max_fb_interval. If no receive report is recieved
within 2x t_max_fb_interval (indicating at least 2 lost feedback
reports), the algorithm will take action as if all packets in the
interval have been lost, resulting in a halving of the send rate.If 2-10% of the packets have been lost since the previous report
from the receiver, the sender available bandwidth estimate As(i) (As
denotes ‘sender available bandwidth’) will be kept
unchanged.If more than 10% of the packets have been lost a new estimate is
calculated as As(i)=As(i-1)(1-0.5p), where p is the loss ratio.As long as less than 2% of the packets have been lost As(i) will
be increased as As(i)=1.05(As(i-1)+1000)The new send-side estimate is limited by the TCP Friendly Rate
Control formula and the receive-side
estimate of the available bandwidth A(i):where b is the number of packets acknowledged by a single TCP
acknowledgement (set to 1 per TFRC recommendations), t_RTO is the TCP
retransmission timeout value in seconds (set to 4*R) and s is the
average packet size in bytes. R is the round-trip time in seconds.(The multiplication by 8 comes because TFRC is computing bandwidth in
bytes, while this document computes bandwidth in bits.)In words: The sender-side estimate will never be larger than the
receiver-side estimate, and will never be lower than the estimate from
the TFRC formula.We motivate the packet loss thresholds by noting that if the
transmission channel has a small amount of packet loss due to over-use,
that amount will soon increase if the sender does not adjust his bit
rate. Therefore we will soon enough reach above the 10 % threshold and
adjust As(i). However if the packet loss rate does not increase, the
losses are probably not related to self-induced channel over-use and
therefore we should not react on them.There are three scenarios of interest, and one included for
referenceBoth parties implement the algorithms described hereSender implements the algorithm described in section , recipient does not implement Recipient implements the algorithm in section , sender does not implement .In the case where both parties implement the algorithms, we
expect to see most of the congestion control response to slowly varying
conditions happen by TMMBR messages from recipient to sender. At most
times, the sender will send less than the congestion-inducing bandwidth
limit C, and when he sends more, congestion will be detected before
packets are lost.If sudden changes happen, packets will be lost, and the sender side
control will trigger, limiting traffic until the congestion becomes low
enough that the system switches back to the receiver-controlled
state.In the case where sender only implements, we expect to see somewhat
higher loss rates and delays, but the system will still be overall TCP
friendly and self-adjusting; the governing term in the calculation will
be the TFRC formula.In the case where recipient implements this algorithm and sender does
not, congestion will be avoided for slow changes as long as the sender
understands and obeys TMMBR; there will be no backoff for
packet-loss-inducing changes in capacity. Given that some kind of
congestion control is mandatory for the sender according to the TMMBR
spec, this case has to be reevaluated against the specific congestion
control implemented by the sender.This algorithm has been implemented in the open-source WebRTC
project.This draft is offered as input to the congestion control
discussion.Work that can be done on this basis includes:Consideration of timing info: It may be sensible to use the
proposed TFRC RTP header extensions to carry per-packet
timing information, which would both give more data points and a
timestamp applied closer to the network interface. One adaptation of
this proposal is given in Appendix A.1.Considerations of cross-channel calculation: If all packets in
multiple streams follow the same path over the network, congestion
or queueing information should be considered across all packets
between two parties, not just per media stream. A feedback message
that may be suitable for such a purpose is given in Appendix
A.2.Considerations of cross-channel balancing: The decision to slow
down sending in a situation with multiple media streams should be
taken across all media streams, not per stream.Considerations of additional input: How and where packet loss
detected at the recipient can be added to the algorithm.Considerations of locus of control: Whether the sender or the
recipient is in the best position to figure out which media streams
it makes sense to slow down, and therefore whether one should use
TMMBR to slow down one channel, signal an overall bandwidth change
and let the sender make the decision, or signal the (possibly
processed) delay info and let the sender run the algorithm.Considerations of over-bandwidth estimation: Whether we can use
the estimate of how much we're over bandwidth in section 3 to
influence how much we reduce the bandwidth, rather than using a
fixed factor.Startup considerations. It's unreasonable to assume that just
starting at full rate is always the best strategy.Dealing with sender traffic shaping, which delays sending of
packets. Using send-time timestamps rather than RTP timestamps may
be useful here, but as long as the sender's traffic shaping does not
spread out packets more than the bottleneck link, it should not
matter.Stability considerations. It is not clear how to show that the
algoritm cannot provide an oscillating state, either alone or when
competing with other algorithms / flows.These are matters for further work; since some of them involve
extensions that have not yet been standardized, this could take some
time.This document makes no request of IANA.Note to RFC Editor: this section may be removed on publication as an
RFC.An attacker with the ability to insert or remove messages on the
connection will, of course, have the ability to mess up rate control,
causing people to send either too fast or too slow, and causing
congestion.In this case, the control information is carried inside RTP, and can
be protected against modification or message insertion using SRTP, just
as for the media. Given that timestamps are carried in the RTP header,
which is not encrypted, this is not protected against disclosure, but it
seems hard to mount an attack based on timing information only.Thanks to Randell Jesup, Magnus Westerlund, Varun Singh, Tim Panton,
Soo-Hyun Choo, Jim Gettys, Ingemar Johansson and others for providing
valuable feedback on earlier versions of this draft.This section proposes two new functionalities: An RTP header
extension for signalling the time of packet emission, and an RTCP
feedback message signalling the requested total bandwidth for a
section.If these two functions are available, it is possible to implement the
algorithm in this document, or other algorithms that take the same
input, in a fashion that is likely to be more precise than the one that
depends on RTP timestamps, and can cover multiple flows instead of just
one.This section is intended to be pulled out in a later separate
Internet-Draft and be proposed for standardization.The send timestamp serves to record the last time at which the
packet was available for modification to the RTP sender - that is, as
close as possible to the time at which the packet was actually queued
for sending on the wire.24 bits The timestamp
indicating when the packet is sent. This timestamp is measured in
microseconds and is used for bandwidth estimation.The absolute value of the send timestamp does not matter. The
value MUST be consistent between packets sent from the same
sender.This feedback message is used to notify a sender of multiple
media streams over the same RTP session of the total estimated
available bit rate on the path to the receiving side of this RTP
session.Within the common packet header for feedback messages (as defined
in section 6.1 of ), the "SSRC of
packet sender" field indicates the source of the notification. The
"SSRC of media source" is not used and SHALL be set to 0. RFC 5104
section 4.2.2.2.The reception of a REMB message SHALL result in that the total
bit rate sent on the RTP session this message applies to is equal to
or lower than the bit rate in this message. The new bit rate
constraint should be applied as fast as resonable. The sender is
free to apply additional bandwidth restrictions based on its own
restrictions and estimates.This document describes a message using the application specific
paylaod type. This is suitable for experimentation; upon
standardization, a specific type can be assigned for the
purpose.RTCP message with payload type 206. Reference RFC 3550, 4585 and
5104.The fields V, P, SSRC, and length are defined in the RTP
specification [2], the respective meaning being summarized
below:This field identifies the RTP
version. The current version is 2.If set, the padding bit
indicates that the packet contains additional padding octets at
the end that are not part of the control information but are
included in the length field. Always 0This field
identifies the type of the FB message and is interpreted
relative to the type (transport layer, payload- specific, or
application layer feedback). The values for each of the three
feedback types are defined in the respective sections below.
Always 15, application layer feedback message. RFC 4585 section
6.4This is the RTCP packet
type that identifies the packet as being an RTCP FB message.
Always PSFB | 206 | Payload-specific FB message. RFC 4585
section 6.4.The length of this packet in
32-bit words minus one, including the header and any padding.
This is in line with the definition of the length field used in
RTCP sender and receiver reports [3]. RFC 4585 section 6.4.The
synchronization source identifier for the originator of this
packet. RFC 4585 section 6.4.Always 0.Always ‘R’
‘E’ ‘M’ ‘B’Number of SSRCs in this
messageThe exponential scaling of the
mantissa for the maximum total media bit rate value, ignoring
all packet overhead. The value is an unsigned integer [0..63].
RFC 5104 section 4.2.2.1The mantissa of the
maximum total media bit rate (ignoring all packet overhead) that
the sender of the REMB estimates. The BR is the estimate of the
traveled path for the SSRCs reported in this message. The value
is an unsigned integer in number of bits per secondConsists of one or more
SSRC entries which this feedback message applies to.Added change logAdded appendix outlining new extensionsAdded a section on when to send feedback to the end of section
3.3 "Rate control", and defined min/max FB intervals.Added size of over-bandwidth estimate usage to "further work"
section.Added startup considerations to "further work" section.Added sender-delay considerations to "further work"
section.Filled in acknowledgements section from mailing list
discussion.