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MARMARA ÜNİVERSİTESİ TEKNOLOJİ FAKÜLTESİ

Abdullah DEMİR, Yrd. Doç. Dr.

• Automotive Software Systems

• Software Architectures for Advanced Driver Assistance Systems (ADAS)

• The Intelligent Automated Vehicle: the Last IoT Node

• Araçlardaki Mobil Uygulamalara Örnekler

https://en.wikipedia.org/wiki/Data_rate_units

HATIRLATMA The ISQ symbols for the bit and byte are bit and B, respectively. In the context of

data rate units, one byte consists of 8 bits, and is synonymous with the unit octet.

The abbreviation bps is often used to mean bit/s, so that when a 1 Mbps connection

is advertised, it usually means that the maximum achievable bandwidth is 1 Mbit/s

(one million bits per second), which is 0.125 MB/s (megabyte per second), or about

0.1192 MiB/s (mebibyte per second). The Institute of Electrical and Electronics

Engineers (IEEE) uses the symbol b for bit.

Kilobit per second

kilobit per second (symbol kbit/s or kb/s, often abbreviated "Kbps") is a unit of

data transfer rate equal to:

1,000 bits per second

125 bytes per second

Megabit per second

megabit per second (symbol Mbit/s or Mb/s, often abbreviated "Mbps") is a unit of

data transfer rate equal to:

1,000,000 bits per second

1,000 kilobit per second

125,000 bytes per second

125 kilobytes per second

The International System of Quantities (ISQ)

SAE.ORG, Next-gen electronic controls: Open source, scalable and integrated; 19-Apr-2016 04

Tony Cooprider, Senior Technical Leader

for Ford Motor Co. “Twenty-five years

ago, 75% of the vehicle value was

mechanical, 22% was electronics and

there was a sliver of software. Software

has grown to 18%, electronics is now

about a third and about half is

mechanical parts.”

“We need to consolidate what we’ve

distributed, we want to reduce the

number of controllers in a car,” said

Michael Groene, Director of Global

Software Engineering at Delphi

Automotive.

• How many lines of code in a:

– F-22 Raptor:

– Average new Ford:

1.7 million

10 million

Noah Goodall, VDOT’s Connected Vehicle Program, Virginia Center for Transportation Innovation and Research, ASHE Old Dominion Section Meeting, June 13, 2013

Modern Vehicles – Very Sophisticated

Lines Of Code: Kod Satırı

Computerized Measurement

• Speed

• Heading (rota, yön)

• Acceleration (lateral, longitudinal, vertical)

• Position (from GPS)

• Other diagnostics

Wipers on/off

Braking status

Tire pressure

Steering wheel angle

Headlights on/off

Turn signals on/off

Rain sensors

Stability control


Kia

• Seri iletişim

• Paralel iletişim

Not: Paralel devrede 2 farklı sinyal için 2 kablo kullanılırken seri

devrede bir kablo üzerinden 2 ayrı sinyal gönderilir.

Kia

Ağ Tasarımları

ECU’lar aralarında bilgi alışverişi yapabilmek için

birbirlerine bağlanırlar.

ECU’lar arasında 3 tip bağlantı vardır.

• Çember/Halka

• Yıldız

• Otobüs/Bus

Kia

Bu tip bağlantıda ECU’lar

sinyal gönderir ve gönderdiği

sinyal tekrar kendisine gelir.

Kia

Bu tip bağlantıda merkezde bir ana

ECU vardır. Diğer ECU’lar ana ECU

üzerinden birbirine bağlanırlar.

Kia

Bu tip bağlantıda ECU’lar ortak iletişim

kablosuyla birbirine bağlıdır. Ortak

iletişim kablosu üzerinden data/veri

transferi oluşur.

Kia

İletişim Hızına Göre Sınıflandırma

Introduction to Automotive

Software Systems 2IN60: Real-time Architectures (for automotive systems)

More and more car functions are

being implemented in software

Developing software is

expensive

$$$

Car functions

powertrain, e.g.

engine control, transmission and gear control;

chassis, e.g.

ABS (Antilock Braking System), ESP (Electronic Stability Program),

ASC (Automatic Stability Control), ACC (Adaptive Cruise Control);

body (comfort), e.g.

air conditioning and climate control, dash board, wipers, lights,

doors, seats, windows, mirrors, cruise control, park distance

control;

telematics/wireless, e.g.

multimedia, infotainment, GPS and in-vehicle navigation systems,

CD/DVD players, rear-seat entertainment;

passive safety (emerging), e.g.

rollover sensors, airbags, belt pretensioners.

20

Powertrain Chassis Body Telematics Passive

safety

Program size 2 MB 4.5 MB 2.5 MB 100 MB 1.5 MB

Number of ECUs 3-6 6-10 14-30 4-12 11-12

Number of

messages

36 180 300 660 20

Bus topology Bus Bus Bus Ring star

Bandwidth 500 Kb/s 500 Kb/s 100 Kb/s 22 Mb/s 10 Mb/s

Cycle time 10 ms – 10 s 10 ms – 10 s 50 ms 2 s 20 ms 0 5 s 50 ms

Safety

requirements

High High Low Low Very high

Complexity is due to the many dependencies

E.g. communication

Communication is expensive

Surface area, power consumption, latency, ability to

understand system behavior, …

Modular design:

Divide an integrated system into independent modules

Define interfaces between the modules

Keep the interfaces thin!

Advantages

Separation of concerns

Flexibility

Maintainability

Security

Controls one or more car functions

Types of electronic control units

Airbag (ACU), Engine (ECU),

Transmission (TCU), …

70 – 100 ECUs inside a car (nearly as

many as inside Airbus A380)

Microprocessor-based

An ECU and its interfaces

Power

CAN port FlexRay port Digital and Analog

I/O ports

Debug port

Example ECU (Freescale board EVB9512XF)

Power

CAN port

LEDs

Reset button

Microcontroller

(CPU + memory)

FlexRay port

Digital and

Analog

I/O ports

CAN controller

Debug port

Connects individual ECUs

Examples: CAN, FlexRay, I2C, IEEE 802.11p

K-CAN

System

MOST K-CAN

Periphery

SI-BUS

(Byteflight)

PT-CAN

Diagnose

Gateway

A particular bus defines the communication protocol (including message format

and possible message exchanges), bandwidth, physical interfaces.

Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt

1986 - Robert Bosch / 1993 - ISO

Tek bir hat üzerinden kablolu veri transferi

Kontrol Alan Ağ modülü bulunan ilk entegre 1989 yılında Intel

Corp. tarafından piyasaya çıkarılmıştır.

• Siemens,

• Motorola,

• Philips,

• Microchip

Endüstriyel otomasyon, otomotiv ve mühendisliğin çeşitli

alanlarında kullanılır. Çift yönlü veri haberleşme için

kullanılır.

• Yüksek performanslı,

• Güvenilir,

Kablolu ağ teknolojisidir.


• Ağa bağlı bir düğümden tüm sistem kontrol edilebilir.

• Fonksiyonları kontrol eden komutlar seri olarak gönderildiği

için kablo ve konnektör karışıklığı azalır.

• Sistemin çözülmesi veya toplanması daha kolay ve daha

hızlıdır.

• Verimli hata bulma sağlar.

• Kullanıcıya uyarı ve durum bilgisi göndermek için daha

yüksek kapasite sağlar.

• Ağa yeni kontrol birimlerinin kolayca eklenebilmesini sağlar.

• Ağa erişimde farklı erişim öncelikleri sağlar.

Kaynak: “BMW.com.tr” web sitesi, BMW Teknoloji Rehberi (Erişim Tarihi: 03/04/2014).

Flex Ray Flex Ray, araç bileşenleri arasında veri aktarımını hızlandıran yeni geliştirilmiş bir seri

veri yolu sistemidir. Flex Ray, farklı sistemlerin güvenli ve hassas bir şekilde birbirine

bağlanmasına olanak verir. Yeni ve hızlı sürücü destek sistemleri ile yürüyen aksam

kontrol sistemleri daha güvenli ve daha konforlu sürüş anlamına gelir.

Elektronik sürücü destek sistemlerinin karmaşıklığı gün geçtikçe artmaktadır. Yeni şasi

ve hareketli aksam kontrol sistemleri, etkin bir şekilde işlev görebilmek için son derece

yüksek veri aktarım hızlarına ihtiyaç duymaktadır. Bu artan gereksinimleri karşılamak

için BMW, otomotiv uygulamalarında gerekli olan güvenlik, hız ve yüksek kaliteyi

sağlayabilecek yeni bir veri yolu sistemi geliştirmek için konusunda uzman firmalar ile

işbirliğine girdi. 2007 yapımı BMW X5, dünyada bu yeni teknolojiyi kullanan ilk standart

üretim otomobil oldu. Flex Ray, Adaptif Sürüş yürüyen aksam kontrol sisteminin optik

veri yolunu kontrol eder ve amortisörlerin elektromanyetik valfleri ile dengeleyicileri

kontrol etmekte kullanılır, bu sayede Adaptif Sürüş, araç gövdesinin yana yatma etkisini

ortadan kaldırır.

Flex Ray’in en önemli avantajlarından biri yüksek veri aktarım hızlarıdır: Saniyede

10 MBit’e varan bu hız, geleneksel CAN veri yolu sistemine göre yirmi kat daha

fazladır. İkinci bir Flex Ray iletişim kanalı, güvenliği her zaman mükemmellik düzeyinde

tutabilmek için yedek görevi görür. Eğer kanallardan biri işlevini yerine getiremez

duruma gelirse, diğeri kullanılabilir durumda kalır. Güvenlik tehlikesi taşımayan

sistemlerde, tek bir kanalın kullanımı ile daha yüksek bir veri aktarım hızı elde edilebilir.

Bu avantajlar, araç üzerindeki sistemlerin birbirleri ile daha hızlı ve daha güvenli iletişim

kurmasına olanak vererek, sürüş konforunu ve güvenliğini önemli ölçüde artırır.

I2C Data Transfer: Data on the I2C bus is

transferred in 8-bit packets (bytes). There is no

limitation on the number of bytes, however, each

byte must be followed by an Acknowledge bit.

This bit signals whether the device is ready to

proceed with the next byte. For all data bits

including the Acknowledge bit, the master must

generate clock pulses. If the slave device does

not acknowledge transfer this means that there is

no more data or the device is not ready for the

transfer yet. The master device must either

generate Stop or Repeated Start condition.

K.M.Sivakumar, B.Gopalakrishnan, "Design and Implementation of Vehicle Control System Using I2C Protocol", International Journal of Advanced

Research in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007 Certified Organization), Vol. 3, Issue 11, November2014

K.M.Sivakumar, B.Gopalakrishnan, "Design and Implementation of Vehicle Control System Using I2C Protocol", International Journal of Advanced

Research in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007 Certified Organization), Vol. 3, Issue 11, November2014

Reading Text

The term embedded system is quite a complex one. Simply it is a

combination of hardware and software that forms the component of a

larger system; this in turn is programmed to perform a range of

dedicated functions usually with a minimal operator intervention. In

embedded systems the hardware is normally unique to a given

application; computer chips are embedded into the control electronics to

manage the products functionality. Embedded systems are rapidly

becoming a catalyst for change in computing data communications,

telecommunications, industrial control and entertainment sectors. Serial

interface allow processors to communicate without the need for shared

memory and the problems they can create. There are Serial

communication protocols like UART, CAN, USB, SPI, and Inter IC. USB,

SPI and UARTS are all just one type to point type protocol. USB uses

multiplexer to communicate with the other devices. Only I2C and CAN

protocol uses software addressing. But only I2C is very simple to design

and easy to maintain.

The Institute of Electrical and Electronics Engineers ya da

kısaca IEEE (Türkçe: Elektrik ve Elektronik Mühendisleri Enstitüsü)

IEEE 802.11p is an approved amendment to the IEEE

802.11 standard to add wireless access in vehicular

environments (WAVE), a vehicular communication system. It

defines enhancements to 802.11 (the basis of products

marketed as Wi-Fi) required to support Intelligent

Transportation Systems (ITS) applications. This includes data

exchange between high-speed vehicles and between the

vehicles and the roadside infrastructure in the licensed ITS

band of 5.9 GHz (5.85-5.925 GHz). IEEE 1609 is a higher

layer standard based on the IEEE 802.11p. https://en.wikipedia.org/wiki/IEEE_802.11p

https://en.wikipedia.org/wiki/Standardization

https://en.wikipedia.org/wiki/Vehicular_communication_systems





https://en.wikipedia.org/wiki/Wi-Fi



https://en.wikipedia.org/wiki/Intelligent_Transportation_Systems





The IEEE 802.11p wireless access in vehicular environment (WAVE)

protocol providing for vehicle-to-infrastructure and vehicle-to-vehicle

radio communication is currently under standardization. We provide

an NS-2 simulation study of the proposed IEEE 802.11p MAC

protocol focusing on vehicle-to-infrastructure communication. We

show that the specified MAC parameters for this protocol can lead to

undesired throughput performance because the backoff window

sizes are not adaptive to dynamics in the numbers of vehicles

attempting to communicate. We propose two solutions to this

problem. One is a centralized approach where exact information

about the number of concurrent transmitting vehicles is used to

calculate the optimal window size, and the other is a distributed

approach in which vehicles use local observations to adapt the

window size.We show that these schemes can provide significant

improvements over the standard MAC protocol under dense and

dynamic conditions. http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4640898&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farn

umber%3D4640898


• Araçsal Ağlar 5.9 GHz bandında, 75 MHz’lik band genişliğine sahip,

yüksek veri transfer hızı (6-27 Mbps) sunan DSRC (Dedicated Short

Range Communications) standardını kullanır.

• Bu standarda göre yol üzerinde hareket halindeki araçlar;

mevki,

zaman,

yön,

hız,

trafik durumu bilgilerini içeren rutin trafik mesajını yaymak zorundadır.

Dedicated Short-range Communications (DSRC):

Tahsis Edilmiş Kısa Mesafe İletişim


On-Board Diagnostic bir aracın kendi kendine tanı ve raporlama

yeteneğini yapabilmesini sağlayan bir otomotiv standardıdır.

OBD sistemleri aracın alt sistemlerine, sensor bilgilerine, motor

hakkında çeşitli verilere erişimi sağlar.

Elektronik kontrol

ünitesi (ECU)

herhangi bir arıza

oluştuğunda bir kod

numarası bildirir.


SAE J1850 PWM (pulse-width modulation — 41.6 kB/sec,

standard of the Ford Motor Company)

SAE J1850 VPW (variable pulse width — 10.4/41.6 kB/sec,

standard of General Motors)

ISO 9141-2. This protocol has an asynchronous serial data rate of

10.4 kBaud. It is somewhat similar to RS-232; however, the signal

levels are different, and communications happens on a single,

bidirectional line without additional handshake signals. ISO 9141-2 is

primarily used in Chrysler, European, and Asian vehicles.

ISO 14230 KWP2000 (Keyword Protocol 2000)

ISO 15765 CAN (250 kBit/s or 500 kBit/s). The CAN protocol was

developed by Bosch for automotive and industrial control. Unlike other

OBD protocols, variants are widely use outside of the automotive

industry. While it did not meet the OBD-II requirements for U.S.

vehicles prior to 2003, as of 2008 all vehicles sold in the US are

required to implement CAN as one of their signaling protocols.

Software Architectures

for

Advanced Driver Assistance Systems (ADAS)

Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015


Power Consumption within BMW cars

Max. power consumption limits the number of ECUs


Rising Quota of Multicore deliveries at Volkswagen

Ramp up: Desteklemek yada güçlendirmek

Multicore usage ramps up (e.g. Powertrain).

ADAS will speed this up.


There is a very basic and helpful definition for a safe

system:

“You know what the system

does”


System Architecture

Approach: 2 channels with comparison

Two ECUs working on the input data, outputs are compared

A 2 channels with comparison system is simply fail-safe and since

you cannot distinguish between “ECU1 not ok” and “ECU2 not ok”.

The safe state is a complete system shutdown.


System Architecture

Approach: 2oo3 Systems

If one of the ECUs fails the system can continue with the remaining

two ECUs.

Failures in the input data can be detected by an “Input-Voter”.

This pattern is well established.


System Architecture

2oo3 Systems and automotive

Applicable for automotive? • More ECUs

• More wiring

• More weight

• More power consumption

• Higher complexity to manage

Will we as a customer accept that? • Different opinions and market studies

• Referring to several studies, customer will pay 1500 – 3000 € more

for autonomous driving car (mid-size car).

Source: KPMG(2013), autelligence (2015)


System Architecture

Approach: 1oo2D System

High diagnostic coverage needed to detect failures in one channel

• IF component fails in one of the two channels, the system does not shut down

but continues to operate with one channel

Common sense:

The best policy is not to operate on a single channel, or not for a long period of

time.

See above: only some seconds may be needed.


System Architecture Diagnostics in software in autonomous driving systems

Integrity mechanism

• Memory Partitioning

• Temporal Monitoring

• Data protection

Infrastructure

• Fault tolerant Ethernet • Service Orientated communication

Software Engineering

• Plausibility checks

• Functional monitoring

• Defensive programming

• Dynamic analysis

Safety OS

• Data Protection

• Stack Protection

• Context Protection

• OS Protection

• Hardware Error management


System Architecture Outlook: Reconfiguration for rebuilding 1oo2D


System Architecture 1oo2D - Normal operation


ECU Software Architecture Overview of different architecture approaches

The Intelligent Automated Vehicle: the Last IoT Node

Juergen Weyer, Vice President Automotive Sales EMEA - The Intelligent Automated Vehicle: the Last IoT Node, M A R . 0 5 . 2 0 1 5

Juergen Weyer, Vice President Automotive Sales EMEA - The Intelligent Automated Vehicle: the Last IoT Node, M A R . 0 5 . 2 0 1 5

Source: IHS 2015

ARAÇLARDAKİ MOBİL UYGULAMALARA ÖRNEKLER


Android, symbian ve windows işletim sistemli tablet, telefon ve

bilgisayarlarla veriler kablo olmadan, bluetooth ile görülebilir ve

düzenlenebilir. Ancak iOs işletim sisteminde kablosuz Wi-Fi özelliği

kullanılır.

• Android

• IOs

Önemli Not: Kablosuz haberleşme imkanı sağlayan mobil cihazlar ile aracın

OBD soketine uyumlu Bluetooth ve Wifi teknolojilerini destekleyen OBD II

tarama olarak farklı kitler bulunmaktadır. OBD II scanner kitleri için geliştirilmiş

çeşitli yazılımlar bulunmaktadır.

Smartphones


• Very sophisticated computer

• Sensors

GPS

3-axis accelerometer

Camera

Magnetometer

• Carried with you all day


• DashCommand

• iOBD2

• Mobilescan OBD

• MD4MyCar

• LogWorks

• Rev

• Roaders

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