System Architecture for Advanced Safety Vehicle Technology. Jaekwan Lee

Transcription

1 System Architecture for Advanced Safety Vehicle Technology Jaekwan Lee

2 Adoption Factors 1 Regulations 3 European Union Safety Program esafety Initiative Consumer Preferences Increasing priority of safety features Influence on purchase decision Insurance cost reduction potential for vehicles with advanced safety features Key Drivers for Advanced Safety Vehicle Technology 2 New Car Assessment Program 4 Technology Advancements mes US NCAP Technology progress in hardware, so ftware and enabling technologies Euro NCAP J NCAP K NCAP Improved cost effectiveness

3 Market Barriers 1 Cost 3 Required R&D investments make vehicle safety features expensive when launched Advanced sensors & electronics still very expensive Use of more expensive materials in vehicle body developments add to costs Key Barriers for Advanced Safety Vehicle Technology Consumer Awareness Consumer awareness for safety systems is comparatively low in many developing markets The more essential many safety systems are simply assumed No differentiating potential for OEMs 2 Fear of Litigation 4 Increasingly sophisticated safety systems carry an inherent risk of system failure, which might result in death, injury or property damage Litigation are a risk for OEMs and suppliers, especially in the US, reducing attractiveness of ASV Weight Penalty Increasing number of vehicle dynamics, driver assistance and active and passive safety systems add weight to to the vehicle Increased weight makes it more difficult to achieve required CO2 emission standards

4 Why the System Architecture? Powerful System Architecture Performance enhancement D-CAN LS-CAN CGW HS-CAN Standardization BCM1BCM2 THU IVSS ASV DCU ESC MDPS ACU EMS HS-CAN Competitiveness DLU CLU USS HS-CAN EPB -R EPB -L AFS HS-CAN TCU Flexibility Disp. LVDS LRR VS MPC CDC-FL CDC-FR CDC-RL CDC -RR PSI5 Innovative architecture Body & Comfort Infotainment & Cockpit Vehicle Motion Passive Safety Power Train

5 Basic Concept Strategy Integrated Cooperative Performance Complexity Scalability Variants no performance restrictions by control structure low complexity by top down concept scaling of controller leads to variants of central controller subsystem variants influencing complete structure performance limited by arbitration interfaces high effort for arbitration & state coordination algorithms designed for scalability due to independent function chains subsystem variants influencing only one branch in the structure

6 Basic Concept S/W Distribution Centralized Distributed IVSS IVSS IVSS IVSS IVSS Complexity Flexibility Resources Scalability Availability minimum communication effort between unit and subsystems subsystems can easily exchanged IVSS functions do not require resources in other subsystems scalability & variants concentrated on one spot central unit is essential for availability of all ASV functions big communication effort due to ASV functions distribution change of subsystems have impact on ASV systems sharing subsystems resources relevant to function content each subsystem concerned by scalability & variants failure of one unit allows certain ASV functions to continue

7 Basic Concept ECU Work Split Centralized Smart Actuators Intelligent Subsystems Packaging packaging optimum minimum electronics effort in subsystems packaging not optimized E/E Cost depending on variants & market volumes minimum electronics cost in subsystems reuse of mass production stand-alone subsystems Safety & Availability central unit failure shuts down all functions central unit failure shuts down all functions basic functions available with failure of one subsystem Technology Variants subsystem technology variants lead to H/W variants of central unit subsystem technology variants lead to S/W variants in central unit subsystem technology variants encapsulated in subsystems hardwired sensor/actuator smart sensor/actuator ECU bus hardwired

8 Basic Concept S/W Decomposition S1 S2 Algo D1 D2 A1 A2 Functions = Features Functional Modules S = Sensor Algo = Algorithm for µc A =Actuator D = Output Driving Stage * according ISO WD 26262

9 Basic Concept S/W Decomposition for ACC System d v a F M B M PT Distance Speed Acceleration Tire Force Brake Torque Drive Torque Radar Signal Information Situation Interpretation & Target Selection Distance Speed a-arbiter Accel. ABS TCS T R Q A R B Brake Hydraulic Functions Combustion Engine Functions generic functional modules used by several functions

10 System Architecture Procedure System Architecture Elements Functional Architecture What is the relationship and order between vehicle functions? Interfaces Software Architecture Hardware Distribution How shall vehicle functions be implemented in software? Where shall vehicle functions be implemented in hardware? relevant to E/E architecture area Networking Architecture How shall hardware system elements communicate?

11 System Architecture Procedure Work Package Interfaces Functional Architecture Software Architecture Hardware Distribution Networking Architecture preparation of system requirements specifications operation scenarios analysis general features of functional modules definition of functional modules specifications functional modules design including external modules interfaces conversion functional modules into generic application S/W components restrictions criteria mapping of functional modules on S/W platform including AUTOSAR optimal H/W distribution analysis relevant to vehicle platforms definition of general requirements (ex. communication speed, access priority) for functional modules specific network design

12 Functional Architecture Definition & Design of Functional Modules (ex. ACC Systems) d v a F M B M PT Distance Speed Acceleration Tire Force Brake Torque Drive Torque Radar Signal Information Situation Interpretation & Target Selection Distance Speed a-arbiter Accel. ABS TCS T R Q A R B Brake Hydraulic Functions Combustion Engine Functions generic functional modules used by several functions

13 Software Architecture Conversion into generic application S/W components Surround Sensors (Radar, Video, Ultrasonic etc.) Longitudinal dynamics management arbitr. d arbitr. v arbitr. a Generic Application S/W Compliant Lateral dynamics management arbitr. ψ arbitr. ψ. arbitr... ψ arbitr. F Coordinator Wheel Force ABS TCS arbitr. M yaw Coordinator Actuators arbitration M PT, i P.T. arbitration M B, i Brake arbitration δ, M Steering

14 Software Architecture Conversion into generic application S/W components : ex. AUTOSAR WPII-10.3 Chassis ACC Adaptive Cruise ESC = ESP Electronic Stability RSC Roll Stability Steering High Level Steering DAS High Level Steering VSS EPB Electronic Parking Brake SSM Stand Still Manager VLC Vehicle Longitudinal AWD & Torque Vectoring TPM Tire Pressure Monitoring Active Suspension AUTOSAR Interface VSS = Vehicle Stabilizing System; DAS = Driver Assist System; AWD = All Wheel Drive

15 Hardware Distribution Restrictions to be considered Delay Time LOCATION Power Transfer S1 D1 A1 Variance S2 S2 Algo D2 A2 Safety Requirements* S = Sensor Algo = Algorithm for µc A =Actuator D = Output Driving Stage * according ISO WD 26262

16 Hardware Distribution Mapping of Functional Modules Mapping Example 1 Mapping Example 2 S1 D1 A1 S1 D1 A1 Algo Algo S2 D2 A2 S2 D2 A2 ECU1 Bus ECU2 ECU1 Bus ECU2 S = Sensor Algo = Algorithm for µc A =Actuator D = Output Driving Stage * according ISO WD 26262

17 Hardware Distribution AUTOSAR Enabling Technology VFB view SW-C Descriptions AUTOSAR SW-C 1 SW-C Descriptions AUTOSAR SW-C 2 SW-C Descriptions AUTOSAR SW-C 3... SW-C Descriptions AUTOSAR SW-C n Generic Application Software Component-Configuration Virtual Functional Bus ECU I ECU II ECU m AUTOSAR SW-C 1 RTE AUTOSAR SW-C 3 AUTOSAR SW-C 2 RTE... AUTOSAR SW-C n RTE Specific Network-Design Basic Software Basic Software Basic Software Gateway

18 Hardware Distribution Small-Medium Platforms (ex. ACC System) Radar Signal Information Situation Interpretation & Target Selection d v a F M B Distance Speed a-arbiter Accel. ABS TCS T R Q A R B Brake Hydraulic Functions P T A R B M PT Combustion Engine Functions CAN LRR ESC EMS

19 Hardware Distribution Medium-High Platforms (ex. ACC System) Radar Signal Information Situation Interpretation & Target Selection d v a F M B Distance Speed a-arbiter Accel. ABS TCS T R Q A R B Brake Hydraulic Functions P T A R B M PT Combustion Engine Functions CAN LRR DCU ESC EMS

20 Networking Architecture Small-Medium Platforms LS-CAN CGW HS-CAN BCM ESC MDPS ACU EMS HS-CAN CLU USS* LRR** TCU VS*** Disp. * realizing APAS ** realizing ACC *** realizing LKAS Body & Comfort Infotainment & Cockpit Vehicle Motion Passive Safety Power Train

21 Networking Architecture Medium-High Platforms LS-CAN CGW HS-CAN BCM ASV ESC MDPS ACU EMS CLU HS-CAN USS HS-CAN EPB-R EPB-L AFS HS-CAN TCU Disp. LRR VS CDC-FL CDC-FR CDC-RL LVDS CDC-RR Body & Comfort Infotainment & Cockpit Vehicle Motion Passive Safety Power Train

22 Active Safety Systems for ASV Active Safety Passive Safety Normal Driving (Information) Warning Assistance (Active ) CW CDM (s & b) Collision FRMS SMS Night PAS LDWS SOWS DSM Active N.V. APAS LKAS LCDAS ACC AFLS Warning - Audible Warning - Visual Warning - Haptic Warning : Seatbelt Warning Brake Pre- Fill Seatbelt Pretension Automatic Emergency Braking Blind Spot Monitoring By Vehicle Cameras Danger Object Warning By Surrounding Sensors Driver Assistance By Active of Actuators Collision Avoidance By Driver s Steering or Braking Collision Avoidance By Automatic Braking ACC : Adaptive Cruise, AFLS : Adaptive Front Lighting System, APAS : Automatic Parking Assist System, CDM : Collision Damage Mitigation, CW : Collision Warning, DSM : Driver State Monitoring, FRMS : Front Rear Monitoring System, LCDAS : Lane Change Decision Aid System, LDWS : Lane Departure Warning System, LKAS : Lane Keeping Assist System, PAS : Parking Aid System, SMS : Side Monitoring System, SOWS : Side Obstacle Warning System

23 Development Roadmap for ASV (multi sensors + IT) & multi systems Virtual Bumper = 360 Surround Sensing System Vehicle-to-Vehicle Communication Intersection/Roadway Infrastructure Satellite-linked Communication A S V multi sensors & multi systems ACC(Stop & Go) & CDM(Headrest) LCDAS & LDWS & LKAS & SOWS APAS & FRMS & PAS single sensor & single system ACC(Stop & Go), CDM(Headrest) LCDAS, LDWS, LKAS, SOWS APAS, FRMS, PAS, SMS / AFLS, DSM, Night ACC : Adaptive Cruise, AFLS : Adaptive Front Lighting System, APAS : Automatic Parking Assist System, CDM : Collision Damage Mitigation, DSM : Driver State Monitoring, FRMS : Front Rear Monitoring System, LCDAS : Lane Change Decision Aid System, LDWS : Lane Departure Warning System, LKAS : Lane Keeping Assist System, PAS : Parking Aid System, SMS : Side Monitoring System, SOWS : Side Obstacle Warning System

24 Development Process for ASV Legend Strategy, Mission, Product Planning Strategy/Roadmap/Plan for i-safety Analysis result in DB Process Databas e Development Tool Work product Req. i-safety System Requirements Analysis DOORS System requirements Test System & Vehicle Validation Test reports INCA CANape Concept Dev. Func. Functional Architecture Development PREEVsion Optimized func. arch. EE Architecture Development PREEVsion SW-Cs SW Dev. Optimized IVSS arch. Network design NW spec. ECU HW Dev. E/E Arch. ECU Integration (SW + HW) & test System Integration & Verification Test reports DAPAS-MOPS Test reports CANalyzer CANoe

25 Surround Sensors for ASV Ultrasonic 24GHz Mid- Range 90 40m Long- Range m Short- Range 120 5m Sensor Features Bed Weather Performance Ultrasonic 24/77GHz Radar Laser Stationary Target Moving Target Multi Target 24GHz 77GHz Detection Range / Cost Benefit / Ultrasonic (Camera Processor) Radar Applicable Systems - APAS - PAS - ACC/CW/CDM - APAS - DSM - FRMS - LDWS/LKAS - Night - SMS - SOWS/LCDAS 24Ghz - APAS - CW/CDM 77Ghz - ACC - CW/CDM Laser - ACC - CW/CDM ACC : Adaptive Cruise, AFLS : Adaptive Front Lighting System, APAS : Automatic Parking Assist System, CDM : Collision Damage Mitigation, CW : Collision Warning, DSM : Driver State Monitoring, FRMS : Front Rear Monitoring System, LCDAS : Lane Change Decision Aid System, LDWS : Lane Departure Warning System, LKAS : Lane Keeping Assist System, PAS : Parking Aid System, SMS : Side Monitoring System, SOWS : Side Obstacle Warning System

26 Standization Status for ASV

27 Standization Status for ASV Work Item Status Work Item Status ISO ACC ISO FVCWS ISO MALSO ISO LDWS Published Published Published Published DIS LSF IS: Autumn, 2008 DIS FSRA IS: Autumn, 2008 PWI ISIVWS NP: Autumn 2007 PWI CSWS NP: Spring 2009 IS LCDAS IS: April 22, 2008 PWI FVCM NP: Spring, 2008 CD ERBA DIS: Spring 2008 PWI LKAS NP: Spring 2009 PWI 15662Revised ACC CD: Spring 2008 PWIRevised MALSO CD: Spring 2008 ACC: Adaptive Cruise Systems FVCWS: Forward Vehicle Collision Warning System MALSO: Maneuvering Aid for Low Speed Operation LDWS: Lane Departure Warning Systems LCDAS: Lane Change Decision Aids Systems FVCM: Forward Vehicle Collision Mitigation Systems ERBA: Extended Range Backing Aid Systems LSF: Low Speed Following Systems FSRA: Full Speed Range ACC ISIVWS: Intersection Signal Information and Violation Warning Systems Korean Standard

28 System Architecture for ASV (ex. 13 systems) Major items ASV with macro system architecture based on information, warning and active control features ASV with cooperative & integrated control logics and network interfaces among safety (chassis, active safety, passive safety), body, multimedia and powertrain domains Active Safety Safety Passive Safety Chassis Multi media Body - PAS - LDWS - SOWS - DSM - (Active) Night Powertrain (Macro) System architecture - FRMS - SMS - Night Warning - APAS - LKAS - LCDAS - ACC - CDM - AFLS Active Safety Safety Passive Safety Chassis Multi media Body Inform -ation Active Active Safety Safety Passive Safety Chassis Multi media Body Powertrain Powertrain

29 System Architecture for ASV (ex. 13 systems) Functions FRMS Front and rear blind spot monitoring Informing SMS side blind spot monitoring Night night drive monitoring PAS parking area obstacle warning LDWS lane departure warning Warning SOWS closing side- back vehicle warning DSM driver s less intensity warning APAS parking maneuver stress reduction LKAS lane keeping stress reduction Active LCDAS lane change stress reduction ACC vehicle inter- space stress reduction CDM front obstacle collision damage reduction AFLS night drive stress reduction Systems (front, rear) (side) (front IR) Sonar (front- rear, side) (front) (side- back, rear) (driver) (rear,side- front) (front) (side- back,rear) Infrared Rays Sonar(side) Infrared Rays (front) (front) (front) Radar(24GHz) Radar(24GHz) Radar(24GHz) Radar(24GHz) Radar(24GHz) Radar(24GHz) Sensors Radar(77GHz) Radar (Laser) Radar(77GHz) Radar (Laser) ECU Actuators Steering Angle Steering Angle Steering Angle Steering Angle Steering Angle Steering Angle Steering Angle Combo Combo Combo Combo Combo Combo Combo Combo Combo Steering Angle Steering Angle Steering Angle Steering Angle Steering Angle Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Vehicle Spd. Separated ECU (AVN integrated) Separated ECU (AVN integrated) Separated ECU Separated ECU (BCM integrated) Sensor Fusion Sensor Fusion Sensor Fusion Integrated ECU Chassis integrated Integrated ECU Chassis integrated Integrated ECU Integrated ECU Integrated ECU Chassis integrated MDPS(AFS) MDPS(AFS) MDPS(AFS) MDPS(AFS) ESC ESC ESC Chassis integrated ESC (Plus/ Premium) EMS Chassis integrated ESC (Premium) MSB MSB MSB Adaptive Seat vibration Seat vibration Front Light ACC : Adaptive Cruise, AFLS : Adaptive Front Lighting System, APAS : Automatic Parking Assist System, CDM : Collision Damage Mitigation, CW : Collision Warning, DSM : Driver State Monitoring, FRMS : Front Rear Monitoring System, LCDAS : Lane Change Decision Aid System, LDWS : Lane Departure Warning System, LKAS : Lane Keeping Assist System, PAS : Parking Aid System, SMS : Side Monitoring System, SOWS : Side Obstacle Warning System EMS Separated ECU ESC

30 System Architecture for ASV (ex. 13 systems) Camera Ultrasonic Camera Radar 기타 Sensors rear front/ side side Front/ rear side front rear/ side driver state front(ir) Laser 77GHz 24GHz Combo SAS velocity or APAS LKAS LCDAS SCC CDM AFLS E C U Warning PAS LDWS SOWS DSM Information FRMS SMS Night Actuators MSB MDPS AFS Chassis ESC EMS Lamp etc. LCD Monitor Buzzer Cluster Side mirror (warning) HUD