1530automotiveelectronics-asv
TRANSCRIPT
Chess ReviewOctober 4, 2006Alexandria, VA
Edited and presented by
New Vistas on Automotive Embedded Systems
Alberto Sangiovanni-VincentelliUC Berkeley
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 2
Notable Quotes
• The Nihon Keizai Shimbun reported that Japan Ministry of Economy, Trade and Industry estimates that Japanese companies spend more than 100 billion yen (USD $903 million) per year developing automotive-related software. And it isn’t going to get any cheaper, with some analysts estimating costs escalating to 1 trillion yen (USD $9.1 billion) by 2014, according to the daily newspaper.
• So is the industry ultimately moving toward ‘plug-and play’? Taking the idea of multiplexing to its logical extreme, a carmaker could potentially wait until relatively late in the vehicle’s development cycle before committing to specific electronic hardware yet avoid having to delay - or worse, tear up - its electrical architecture in the last minute.
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 3
Toyota Autonomous Vehicle Technology Roadmap
Source: Toyota Web site
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 4
ABS: Antilock Brake SystemACC: Adaptive Cruise ControlBCM: Body Control ModuleDoD: Displacement On DemandECS: Electronics, Controls, and Software
EGR: Exhaust Gas Recirculation.GDI: Gas Direct InjectionOBD: Onboard DiagnosticsTCC: Torque Converter ClutchPT: Powertrain
Val
ue
fro
m E
lect
ron
ics
& S
oft
war
e
-More functions & features-Less hardware-Faster
Forefront of Innovation
Vehicle Integration
System Connection
Subsystem Controls & Features
Potential inflection point. Now! Hybrid PT Hybrid PT
Electric IgnitionElectric Ignition
ACCACC
Rear Vision Rear Vision
Passive Entry Passive Entry
Side AirbagsSide Airbags
Fuel CellFuel Cell
Wheel Motor Wheel Motor
……
OnStarOnStar
OBD IIOBD II
HI Spd DataHI Spd Data
Rear aud/vidRear aud/vid
CDsCDs
BCMBCM
ABS
ABS
TCCTCC
EGREGR
Electric FanElectric Fan
Head AirbagsHead Airbags......
Electric BrakeElectric Brake
DoD DoD
GDIGDI
……
… …
… …
… … … …
… …
1970s 1980s 1990s 2000s 2010s 2020s
Electronics, Controls & Software Shifting the Basis of Competition in Vehicles
$
1182
$1
182
(+
196%
)(+
196%
)
$11
82
$118
2 (
+19
6%)
(+19
6%)
50
EC
Us
(+
150%
)
5
0 E
CU
s (
+15
0%)
100
M L
ines
of
Co
de
(+
9900
%)
100
M L
ines
of
Co
de
(+
9900
%)
$400
$400
20 E
CU
s20
EC
Us
1M L
ines
1M L
ines
1M L
ines
1M L
ines
Software $Other $ Electronics $ Software $Other $
Mechanical $Mechanical $
Electronics $
AVG. AVG.
Source: Matt Tsien, GM
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 5
A Typical Car Architecture (BMW)
GM R&D and Planning Electrical & Controls Integration LabTom Fuhrman
Top Priorities
System-level architecture design approach To what extent can we decouple the dimensions of
architecture (computation, communication, power, etc.)? What are the guiding principles of system-level architecture
design? What are the tools to support system-level architecture
design, modeling, simulation, and analysis?
Next-generation architecture strategy What is the long-term architecture vision
• Independent of (not biased by) today’s architecture
• Not just evolution of Michigan A / Global A. What is the best approach to incrementally transition to the
long-term architecture? Is Global A architecture good enough for the long term?
How much better is possible?
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 7
AUTOSAR
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 8
AUTOSAR Organization
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 9
Specification
Analysis
Dev
elo
pm
ent
Pro
cess
BusesBusesMatlab
CPUs Buses OperatingSystems
Behavior Components Virtual Architectural Components
C-Code IPs
ASCET
ECU-1ECU-1 ECU-2ECU-2
ECU-3ECU-3BusBus
f1f1 f2f2
f3f3
System Behavior System Architecture
Mapping
Performance Analysis
Refinement
Evaluation ofArchitectural
and Partitioning Alternatives
Implementation
Metro: Separation of Concerns
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 10
Design Practice: Mismatch
• Functional Modeling and Code Generation assume uniprocessor implementation….– Modeling and stability analysis for control algorithms with
Simulink– Code generation with RealTime Workshop
• But then code is distributed• Architectural limitations
– Shared buffers and clock drift between processors (ECUs)– Symptoms: Message loss and duplication
• Current mitigation– Limited analysis– In-vehicle testing: Expensive, not exhaustive– Oversampling: Brute force, too conservative
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 11
Stabilitrak Case Study with Lossy MoC
• Drive-by-wire application on distributed CAN platform
• System model accurately captures design space– Loss and duplication– Message latency– Priority inversion
• Metropolis library to support lossy MoC
H. Zeng, A. Davare, ASV, S. Sonalkar, S. Kanajan, C. Pinello, “Design Space Exploration of Automotive Platforms in Metropolis,” SAE Cong. 2006.
SwTask1_1
MW 1Bus
Sender1
Bus
SwTask1_m1
MW i
SwTaski_1
SwTaski_mi
…... …...
BusReceiver
1
BusReceiver
i
BusSender
i
send
receive
send
receive
………
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 12
ECU 1
CAN Bus
ECU n…...
Architecture Model: Abstraction Levels
SwTask 1
SwTask i
Middle-ware
OSEK RTOS/CPU
CAN Driver
CAN Controller
…...
(To CAN Bus)
Cpu/Rtos Medium
OSEK RTOSScheduler
Interrupt Handler
(Interrupt requests from devices)
(From Middleware)
(To CAN Driver)
CAN Driver
Sender
CAN Driver Medium
CAN Driver
Receiver
(To CAN Controller)
(To Middleware)
Bus Sender
Bus Receiver
(To CAN Bus)
(Interruption Request to
CPU)
send
receive
(From CAN Driver)
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 13
Matching Models of Computation
• The functional and architectural models should be described using the same model of computation
• Architecture Characteristics:– Network of processes connected by
point-to-point FIFOs– Non-blocking reads and writes– Messages may be lost or duplicated
within FIFO• Functional Model
– Functional blocks operate concurrently• Single rate• No synchronization across processes
– Non-blocking read, non-blocking write communication semantics
• Mapping: intersection of behaviors– Before mapping, nondeterministic loss
and/or duplication of messages in functional model
– After mapping, functional loss/duplication follows architecture
f1 f2
Nondeterministic Medium
Process Process
Functional Model
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 14
Finding a Compatible MoC
• Two initial options– “Handshaking” MoC which guarantees lossless
delivery, but with latency overhead– “Lossy” MoC which exposes loss and duplication,
but with limited functional verification capabilities• Point-to-point channels can lose or duplicate data
Expressive
Lossy Handshaking
Analyzable
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 15
Results
• With 2 send buffers: 1. No priority inversion
2. Average message latency = 4.165ms
• With 1 send buffer: 1. Priority inversion: Message 7 < Message 1~62. Average message latency
= 4.936ms
Message Latencysent from Supervisor ECU
01234567
1 2 3 4 5 6 7 8 9 10
Message
End
-to-
end
Late
ncy
(ms
) 1 Send Buffer
2 Send Buffers
• Functional Model– 14
functional processes
– 48 signals
• CAN controller configurations:– Number of
send buffers
• Metric– Message
End-to-end Latency
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 16
Automotive: Ongoing and Future Work• Mapping Techniques for lossy MoC
– Sensitivity criterion for message loss affects mapping decisions
• Alternative MoC that offers slightly stronger analysis capabilities– Guarantee that at most one message lost out of sequence
of n messages
• Handshaking over unreliable network– Synchronous functional modeling– Reduce handshaking overhead based on timing analysis
and/or allocation of tasks to ECUs– A. Davare, K. Lwin, A. Kondratyev, ASV, “The Best of Both
Worlds: The Efficient Asynchronous Implementation of Synchronous Specifications,” DAC 2004.
Efficient
Predictable
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 17
Toyota: Coldstart Engine Controller Design(C. Zavala and K. Hedrick)
• Objectives:– Minimize the HC emissions of
cold-start – Reduce design-to-
implementation controller cycle time.
• Challenges– Sensors not active, poor
combustion, keep development cost low.
• Strategies– Design of AFR and HC
observers, use of design of automated tools, use of modern controller design techniques Experimental facilities
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 18
•Goals:–Minimize the HC emissions of cold-start
–Reduce design-to-implementation controller cycle time.
•Requirements– driveability: no noise or vibration, robustness to uncertain external conditions, low calibration effort, reliability in validation.
•Strategies–Design of AFR and HC observers, use of design of automated tools, use of modern controller design techniques
ImplementationAnd
Testing
Engine Model Catalyst Model
Model Validation
Controller Design
Next designiteration
Model Based Strategy
Coldstart Engine Modeling and Control
Karl Hedrick, Pannag Sanketi, Mark Wilcuts, Tomoyuki Kaga, Carlos Zavala
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 19
Transmission Control
Goal:• Improve drivability and fuel
efficiency by automotive control.
Approach:• Utilize dynamical model-based
analysis and controller design.
Control Strategy: • Multi-tiered approach to achieve
shock-free gear shifting by smooth gear shifting control with engine/AT collaboration balancing between fuel economy & performance by optimal shift pattern scheduling
Prospected control structure for intelligent shifting
Smooth Gear Shifting Control
Gas Pedal
Brake Pedal
Vehicle Speed
Optimal Shift Pattern Scheduling
Human Driver Model &Driving Conditions Identification
Optimal Engine Torque Profile
Optimal AT Friction Elements Torque Profiles
Determine
Driver’s Intentions &
Driving Condition in Real Time
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 20
Hybrid Systems Modeling
Objectives• Hybrid System Analysis: study of
a general semantics for simulator engines to execute hybrid system models.
• Study of representations of discontinuities and interactions between continuous-time dynamics and simultaneous discrete events
• The code generation project aims to produce application code automatically from graphical models in Ptolemy II
If an outgoing guard is true upon entering a state, because of the triggering semantics of transitions, the time spent in that
state is identically zero. This state is called a ¡°transient state¡±.
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 21
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 22
Connected Drive
ITR Review, Oct. 4, 2006"New Vistas on Automotive Embedded Systems", ASV 23
Connected Car-to-Car
TTyre yre SSystemystem
24Oct. 4, 2006
Tyre to VehicleTyre to Vehicle
Body computer
Stability ControlSystem
Smart antenna
Smart antenna
Energy ScavengingEnergy Scavenging
Power ManagementPower Management
SensingSensingDeviceDevice RF LinkRF Link ComputingComputing
Rx/Tx AntennaRx/Tx Antenna
SW CodeSW Code
TTyre yre SSystemystem
25Oct. 4, 2006
SoftwareSoftware Code to Compute
S1 = g1(E1, E2, ..., x1,x2,..., p1,...)
SoftwareSoftware Code to Compute
E1 = g1(x1,x2,..., p1,...)
LL11
LL22
LL33
System ContentSystem Content
Energy ScavengingEnergy Scavenging
Power ManagementPower Management
SensingSensingDeviceDevice RF LinkRF Link ComputingComputing
Rx/Tx AntennaRx/Tx Antenna• 3x3x3, (3 mm3x3x3, (3 mm33,, 3 grams, 3 $)3 grams, 3 $)• Tyre compatible packagingTyre compatible packaging• Use of existing vehicle infrastructureUse of existing vehicle infrastructure• No de-standardizationNo de-standardization
HardwareHardware