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Roger Johansson/2015 1
Communication systems for vehicle electronics
Safety: Powertrain:
Predictive Safety Systems Engine Management
Driver Assistance Systems Transmission Control 2
Adaptive Cruise Control Power Management
Electric Power Steering Courtesy of Daimler, Bosch
Roger Johansson/2015 2
Communication systems for vehicle electronics
Variant 2
Roger Johansson/2015 3
Communication systems for vehicle electronics
54 1200
No. of
No. of fuses meters of
electric
wires
27
575
Wiring diagram, Volvo ÖV4 (“Jacob”) 1927 16
9 283
7 183
5 83
4
50
30
1927 1944 1956 1966 1975 1982 1997
Roger Johansson/2015 4
Communication systems for vehicle electronics
Roger Johansson/2015 5
Communication systems for vehicle electronics
Roger Johansson/2015 6
Communication systems for vehicle electronics
Multiplex Networks
Conventional
Network Identifier
Data
Command
Control
system
Engine Control
Module
Driver Information
Control units
Automatic
Transmission
Central Module
Roger Johansson/2015 7
Communication systems for vehicle electronics
Evolution of protocols
MOST
TT Ethernet
Byteflight FlexRay
TTP/C
CAN FD
TTCAN
CAN CAN 2.0
VAN
J1850 LIN
1985 1990 1995 2000 2005 2010 2015
Roger Johansson/2015 8
Communication systems for vehicle electronics
Lock
Lock
Window lift
Power Train
Seat
Seat
Heating
Instruments
Heating
Central body
Infotainment control Roof
Roof
systems Trunk
Climate Heating
Seat
Seat
Seat
Seat
Heating
Steering wheel
panel Interior
lights
Universal motor
Very high performance Lock
Lock Lock
Lock
Roger Johansson/2015 9
Communication systems for vehicle electronics
Objectives:
Low cost, modest performance and safety requirements, flexible
system architecture
Roger Johansson/2015 10
Communication systems for vehicle electronics
Seat:
many Seat Position Motors,
Occupancy Sensor,
Control Panel
Door/window/seat:
Mirror,Central ECU, Climate:
Mirror, Switch, Window Lift, many Small Motors
Seat Control Switch, Control Panel
Door Lock, etc.
Roger Johansson/2015 11
Communication systems for vehicle electronics
Roger Johansson/2015 12
Communication systems for vehicle electronics
master task
Roger Johansson/2015 13
Communication systems for vehicle electronics
– Bus topology
– CSMA/CR (Carrier sense, Multiple ARB Arbitration
(identifier)
Access/ Collision Resolution)
CTRL Control information
– Error detection capabilities DATA 0-8 bytes
– Supports “atomic broadcast” CRC Checksum
– 0-64 bytes of data per frame ACK Acknowledge
EOF End of frame
– Twisted pair
– Maximum 1 Mbit/s
MESSAGE FRAME
Roger Johansson/2015 14
Communication systems for vehicle electronics
+5V
R
Bus level
1 1
NodeA Node B
Roger Johansson/2015 15
Communication systems for vehicle electronics
Bus arbitration
transmit 1
receive 1
transmit 1 +5V
IR = 0
receive 1
Bus level
1 1
1 1
1 1
IA = 0 IB = 0
Node A Node B
Roger Johansson/2015 16
Communication systems for vehicle electronics
Collission Resolution
transmit 1
transmit 0
+5V receive 0
IR=IA
R
receive 0
Bus level: 0V
Node A Node B
0 0
0 1
1 1 1
0
IA IB=0
Roger Johansson/2015 17
Communication systems for vehicle electronics
Roger Johansson/2015 18
Communication systems for vehicle electronics
Roger Johansson/2015 19
Communication systems for vehicle electronics
Hydraulic
information
carrier
Roger Johansson/2015 20
Communication systems for vehicle electronics
Local control
Local information processing
Independent control objects
Roger Johansson/2015 21
Communication systems for vehicle electronics
Non-functional requirements
System life Maintainability
time Extendability
Interoperability Changeability
Portability
Safety Testability Restructuring
Performance/
Efficiency Usability
System
Security Availability
Architecture
Cost-effectiveness Robustness
Reliability
Fault tolerance
Produceability
Understandability
Timeliness
Conceptual Variability (variants, configurations)
integrity
Roger Johansson/2015 22
Communication systems for vehicle electronics
Roger Johansson/2015 23
Communication systems for vehicle electronics
Transmission
Columns ”Exclusive” – guaranteed service
Basic
cycle 0
”Arbitration” – guaranteed
Basic service (high ID), best
cycle 1 effort (low ID)
Basic
cycle 2 ”Reserved” – for future
Basic expansion...
cycle 3
t
Roger Johansson/2015 24
Communication systems for vehicle electronics
Flexray
Double channels, bus or star
(even mixed).
Media: twisted pair, fibre
10 Mbit/s for each channel
Roger Johansson/2015 25
Communication systems for vehicle electronics
Every base
period
Every second
base period
Every fourth
base26
period
Compare with TTCAN ”basic cycles”
Roger Johansson/2015 26
Communication systems for vehicle electronics
Comparisons
All protocols targets real time applications.
Provides for time AND event triggered paradigms.
TTEthernet.
Proven technology with lots of existing hardware,
Roger Johansson/2015 27
Communication systems for vehicle electronics
What to choose?
28
Roger Johansson/2015 28
Communication systems for vehicle electronics
Roger Johansson/2015 29
Communication systems for vehicle electronics
Q T
Response time analysis
Ri Bi Ti Qi
Roger Johansson/2015 30
Communication systems for vehicle electronics
Transm ission Colum ns
Basic cycle 1
Basic cycle 2
Basic cycle 3
After structuring:
M : {Mh, Mf, Ms}, assume that at least Mh is defined. We now construct a matrix
cycle. Due to protocol constraints, the schedule has to fulfil:
LCM( Mhp ) = x 2n
where:
LCM is least common multiple period for the Mh message set;
x is the preferred length of a basic cycle within LCM;
n is the number of basic cycles.
Hardware constraints:
Hwc1: 1 ≤ x ≤ 2y, has to be consistent with a hardware register, y bits
Hwc2: 0 ≤ n ≤ k, always a power of 2, constraint in hardware.
Hwc3: # of triggers ≤ Tr, columns in the matrix cycle. Limited by the number of
available trigger registers.
Roger Johansson/2015 31
Communication systems for vehicle electronics
Choose a strategy:
Strategy 1:
Minimize number of basic cycles, requires a longer basic cycle, and more
triggers.
Strategy 2:
Minimize length of basic cycles, increase probability of finding a feasible
schedule for large message
Roger Johansson/2015 32
Communication systems for vehicle electronics
Roger Johansson/2015 33
Communication systems for vehicle electronics
Strategy 1
Minimizing number of basic cycles yields: 2n = 1, so n = 0 and x = 6000.
Hwc1 and Hwc2 are fulfilled.
Total numbers of triggers for N messages in one basic cycle is:
N
LCM( M )
i 1 M i
in this case:
Roger Johansson/2015 34
Communication systems for vehicle electronics
Strategy 2
Basic 1 (at 0) 0 168 352 - - - - Trigger
cycle 2 (at 375) - - - - - - - Information
3 (at 750) - - - - -1000 - -
4 (at 1125) - - - - - - -
5 (at 1500) - - - - - - -
6 (at 1875) - - 2000 2168 - - -
7 (at 2250) - - - - - - -
8 (at 2625) - - - - - - -
n = 0: 9 (at 3000)
10 (at 3375)
3000
-
-
-
-
-
-
-
-
-
3352
-
-
-
6000 = x 20 x = 6000 11 (at 3750) - - - - - - 4000
(same as strategy 1) 12 (at 4125) 4125 4168 - - - - -
13 (at 4500) - - - - - - -
14 (at 4875) - - - - - - 5000
n = 1: 15 (at 5250) - - - - - - - Minimum
16 (at 5625) - - - - - - - Triggers
6000 = x 21 x = 3000 1 M1 M2 M3 3
2 0
n = 2: 3 M1 1
6000 = x 22 x = 1500 4 0
5 0
6 M1 M2 2
n = 3: 7 0
6000 = x 23 x = 750 8 0
9 M1 M3 2
10 0
n = 4: 11 M1 ? 1
6000 = x 24 x = 375 12 ? M1 M2 2
13 0
n = 5: 14 M1 135
6000 = x 25 x = 187.5 15
16
0
0
Roger Johansson/2015 35
Communication systems for vehicle electronics
Strategy 2
Avoid this conflict with the requirement that:
a basic cycle shall be at least as long as the shortest period in the message set.
Roger Johansson/2015 36
Communication systems for vehicle electronics
Roger Johansson/2015 37
Communication systems for vehicle electronics
38
Thank you for your attention.
Roger Johansson/2015 38