Cartronic to AUTOSAR Conversion

(Towards) Software Design Means for Digital Passenger Cars Ulrich Freund

© FH AACHEN UNIVERSITY OF APPLIED SCIENCES

14. März 2014 | 1

Outline

• Introduction (Digital Passenger Cars) • Bottom-Up Vs. Top-Down Design • Cartronic Revisited • Cartronic Example Scenarios • Cartronic to AUTOSAR Conversion • Characteristic-Map-Automata • Conclusion © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Vehicle Passion !?

• A considerable number of persons are car enthusiasts. • Typically, this enthusiasm comes along with a passion for motorsports. • In the U.K., these persons are named petrolheads and their passion can be summarized as follows: • • • • •

the the the the the

more power a car has, the better it is more cylinders a car has, the better it is more sound a car has, the better it is, but lighter a car is, the better it is more nimble a car is, the better it is

• Petrolheads consider downsizing and electrification of cars not as just the next level of individual transportation, but as an offence to their passion – to say the least.


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The Upgrade of Passion

• Petrolheads are used that their next car is an (even slight) upgrade w.r.t. power, number of cylinders and capacity to their previous car. • The OEMs always served the passionate enthusiast, just like BMW with the M3: E 30: 4 Cylinder, 2300 ccm, 200 hp E 36: 6 Cylinder, 3000 ccm, 286 hp, ☺

Fig.2a

E 46: 6 Cylinder, 3200 ccm, 343 hp, ☺

Fig.2b

E 92: 8 Cylinder, 4000 ccm, 420 hp, ☺

Fig.2c

Fig.2d

F 80/F 82: 6 Cylinder turbo, 3000 ccm, 450 hp, ☺ ??? Fig.3 © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Upgrade I: More Cylinders

Fig.4

In 1978, there was a Saab ad in German motormagazines with the headline: „We have replaced two cylinders by air“


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Upgrade II: Really More Cylinders?

• German motor magazines (sport-auto 08/78, auto-zeitung 19/78) wanted to know it in more detail and started comparisons and did benchmark testing…

Fig.5a

Fig.5b

• …after a long commercial roller-coaster Saab passenger cars are now history © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Instead of History - A Trip from Geneva to Frankfurt One can take the Fast Route…

…or the Passionate Route

…or make the trip virtually as a Journey through time 2007 – 2013


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Journey Through Time: Downsizing I – the facts ☺ Salon de L‘Auto Geneve 2007 BMW M3

IAA Frankfurt 2013 BMW i8

Fig.6b Fig.6a

• normally aspirated V8 gasoline Engine • 420 PS, 400Nm • Rear-Wheel-Drive • Kerb-Weight: 1655 Kg © FH AACHEN UNIVERSITY OF APPLIED SCIENCES Fig.3

• Turbo charged 3R Gasoline Engine • 231 PS, 320 Nm • E-Motor • 131 PS, 250 Nm • All-Wheel-Drive • Kerb-Weight: 1490 Kg 14. März 2014 | 8

Downsizing II – the Advertisement ☺

The headline of an BMW i8 ad in 2013 could be: • We replaced •

two cylinders by air

•

two cylinders by current

•

and, last but not least, one cylinder by software

to bring sheer driving pleasure to the next level.


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Premium Cars

• Premium Cars •

have more engine power (> 200hp), more cylinders (>4) , more cubic-inches (> 2000ccm) than ordinary cars.

•

Turbocharging of gasoline engines was for a long time mainly seen as trick to overcome engine deficiencies in size.

•

have a different drive-train concept than ordinary cars (RWD or AWD).

• Electric vehicles and downsizing might end this story of premium manufacturers, but: •

a clever combination of e-motors and downsized combustion engines leading to plug-in hybrid might save the premium car.

• The future premium car is a plug-in hybrid.


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The future premium car is a plug-in hybrid

•

For urban area driving electric vehicles are sufficient: Fig 7

•

For rural area driving down-sized combustion engines are sufficient: Fig 8

•

Plug-In Hybrids combine to powertrain in one vehicle, the coordination is pure software:


Fig 9

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Outline


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Bottom-Up: Combination of Powertrain & Chassis Components

Fig 10

+

Fig 12

Fig 11

Bottom-Up: Many to One • •

•

The combination drivetrain components of the passenger transportation cars leads to a plug-in hybrid premium car The driving characteristics of high-end cars highly depends on software implementing appropriate control algorithms, hence the digital passenger car. The control algorithm architecture for passenger transportation cars can be seen as a variant of the high-end car‘s control algorithm architecture.


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Top-Down: Derive Variants of Functional Architectures Control Algorithm Architecture Electrical Vehicle Vehicle Coordinator Powertrain Mgnt

Control Algorithm Architecture Plug-In Hybrid

Lateral Dynamics

Yaw Dyn.

Arbitrated Signals for Actuator E-Motor 1

Vehicle Coordinator

…

… Brake

Powertrain Mgnt Longitudinal Dynamics

Longitudinal Dynamics

Chassis Mgnt

Chassis Mgnt Lateral Dynamics

Yaw Dyn.

Damper

Gearbox

Roll Dyn.

Steering

Pitch Dyn.

Arbitrated Signals for Actuator E-Motor 1 E-Motor 2 Cmb. Eng.

…

… Brake

LockDiff Gearbox

Damper Roll-bar Steering

Control Algorithm Architecture Downsided Combustion Engined Vehicle Vehicle Coordinator Powertrain Mgnt Longitudinal Dynamics


Yaw Dyn.

Arbitrated Signals for Actuator …

… Brake

Top-Down: One to Many © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

Cmb. Eng.

Gearbox


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Top-Down: Derive Variants of Functional Architectures Control Algorithm Architecture Electrical Vehicle Vehicle Coordinator

Vehicle Coordinator

Powertrain Mgnt Longitudinal Dynamics

Control Algorithm Architecture Chassis Mgnt Powertrain Mgnt Plug-In Hybrid Vehicle Longitudinal Powertrain Mgnt Dynamics Longitudinal Dynamics

Lateral Chassis Mgnt Dynamics Lateral Dynamics

Yaw Dyn.

Yaw Dyn.

Roll Dyn.

Arbitrated Signals for Actuator

Lateral Dynamics

Yaw Dyn.

Arbitrated Signals for Actuator E-Motor 1

Vehicle Coordinator

Chassis Mgnt

Roll Dyn.

Pitch Dyn.

…

… Brake Damper

Gearbox Steering

Pitch Dyn.

Arbitrated Signals for Actuator E-Motor 1 E-Motor 1 E-Motor 2 Cmb. Eng. E-Motor 2

Cmb. Eng.

…

LockDiff Gearbox

…

Control Algorithm Architecture …Combustion Engine Vehicle

… Brake

Brake

Damper

LockDiff Roll-bar Steering

Gearbox


Vehicle Coordinator Powertrain Mgnt Longitudinal Dynamics


Yaw Dyn.

Arbitrated Signals for Actuator …

… Brake

Top-Down: One to Many © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

Cmb. Eng.

Gearbox


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Towards Software Design Means for Digital Passenger Cars • • •

The Cartronic ordering scheme determines the hierarchical representation of the system. Transformation of the Cartronic elements to a component oriented language, e.g. AUTOSAR. Characteristic Map Automata implement the internal behavior of components representing Cartronic coordinators.


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Outline


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Cartronic System

•

Brake/accl split

? Wheeldata

•

!

!

ACC

Acceleration

• • Brake

•


A Cartronic system consist of the following components: •

subsystems,

•

coordinators, and

•

information providers.

There are three kind of connectors: •

Inquiry

?

•

Request

!

•

Order

An order runs top-down, i.e. from system to subsystem. Inquireries and requests can go to every component in the systems, or other systems on the same hierarchy level. Every system has at least one coordinator. 14. März 2014 | 18

Cartronic System

Yawrate

Vehilce Movement

Suspension

!

? ! Brake/Accl split

Steering

? Wheeldata

!

!

! •

ACC

Acceleration

• Brake

• •


Requests and inquireries can have direct connections out of the system. Orders and requests will go to the systems border and are then delegated to the system‘s coordinator. This is called semipermeability Inquieries eventually start at sensors or estimators, while orders will end in actuators. 14. März 2014 | 19

Cartronic System

Yawrate

Vehilce Movement

Suspension

? !

Steering

Vehicel Longitudinal Movement


!

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Formalization of Cartronic

• Cartronic is a very abstract ordering mechanisms of functional and software architectures. • It will identify •

the optimal „position“ of sensor- and actuator sw-components in a hierarchy, e.g. function local or system global.

•

Coordinators which will distribute orders and „merge“ requests of the subsystems.

•

Dataflow dependencies between subsystems, coordinators, and information providers for a given scenario.

• It will not •

show all interfaces of a component

•

formalize the data-flows.

• Cartronic classifies data-flows and component types according to an order scheme. This is not the case in e.g. AUTOSAR.


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Outline


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Cartronic Design Approach

• The components of the system with its connectors describe a scenario, i.e. how the components interact to fulfill an order. • Every scenario has one top-level order. • The system hierarchy reflects the order delegation to the actuator. • The coordinator at every hierarchy level can split the order into several sub-orders and delegates the sub-orders to the appropriate subsystems. • Numbers on the connectors clarify the data-dependency of system’s components for one scenario, i.e. which request comes first, when will information be read, when can the order placed first to the subsystems, a.s.o. • Compose higher-level systems out of subsystems by introducing coordinators and information providers. • If two subsystems need the same information provider, remove it from the subsystem and place it on the same level as the coordinator. © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Example Scenarios

• •

•

•

Mechanical Braking: Utilization of mechanical brake only. ABScontrol possible. Mechanical Braking with YMR or GMA (Giermomentenabschwächung) Utilization of mechanical brake only. ABS-control possible. If yaw moment is too big, the brakepressure will be reduced. Recuperation Braking: Depending on the SOC of the battery the EMotor will be used as generator for deceleration. The mechanical brake is necessary to finally stop the vehicle. Acceleration: Depending on the road condition both the electrical motor and the combustion engine will be used while cornering.


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Braking incl. ABS Control

Vehicle Coordinator

Vehicle Motion Coord. yawreate Comb. Eng. Pwt-Coord.

Electrical. Pwt-Coord. Steering Longittud. Coord.

2. Whlspd?

BatterySOC E-Motor / Generator

Whlspd 1. Brake req!

Brake


3. Brake

Accelerator

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Braking with Yaw Moment Reduction

Vehicle Coordinator

Vehicle Motion Coord.

Comb. Eng. Pwt-Coord.

4. YawRate? yawreate

3. Brake req!

5. Brake

Electrical. Pwt-Coord. Steering Longittud. Coord.

2. Whlspd?



Brake


6. Brake

Accelerator

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Braking with Recuperation

5. Brake req!

Vehicle Coordinator 6. Recup

6. Brake


yawreate

3. Brake req!

Comb. Eng. Pwt-Coord.

4. YawRate?

7. Brake

Electrical. Pwt-Coord. Steering Battery SOC?

Longittud. Coord.

8. Recup. E-motor

2. Whlspd?



Brake


8. Brake

Accelerator

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Acceleration

Vehicle Coordinator

4.Acclreq!

5. Accl. Comb. Eng.


5. Accl. E-motor

YawRate? yawreate

3. Acclreq! Comb. Eng. Pwt-Coord.

Steer req!

Electrical. Pwt-Coord.

Steering 6. Battery SOC?

Longittud. Coord.

7. Accl. E-motor

2. Whlspd?

BatterySOC

Whlspd

E-Motor / Generator

1. Acclreq! Brake


Accelerator

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Outline

• Introduction (Digital Passenger Cars) • Bottom-Up Vs. Top-Down Design • Cartronic Revisited • Cartronic Example Scenarios • Cartronic to AUTOSAR conversion • Characteristic-Map-Automata • Conclusion © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Transformation to a Functional Architecture

• A functional architecture has to have •

dedicated interfaces for every data-flow

•

an explicit delegation relationship for connectors of every kind, i.e. no matter whether it is an order, request or inquiry.

• The functional architecture has to be complete • All connectors in the system are represented. • Orders •

are the only explicitly delegated connectors in Cartronic,

•

are not shown explicitly in the functional architecture, the mere existence of components is sufficient.

•

serve as delegation rule for requests and inquiries in a functional architecture.

• Requests and inquiries are represented as assembly or delegation connector. • AUTOSAR software components require detailed information on data-types in interfaces.


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Cartronic System with shared Inquiry

? ?

?

?

!


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Global vs. Local Data in AUTOSAR

Actuator-SWComponent ECU-Abstraction Component

ECU-Abstraction Component SensorSWComponent © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Global vs. Local Data in TITUS

Function Monitor

Primary Server Fulfiller

Requestor

Primary Client


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Designarchitecture vs. Softwarearchitecture

AUTOSAR

TITUS-SW

TITUSArchitecture

CARTRONIC

Atomic-SWC

Processclass

Function-Monitor

Coordinator

Atomic-SWC

Processclass

Monitor

Subsystem

Composite-SWC

Frame

-

System

Sensor-SWC

Processclass

Primary Client

-

Aktor-SWC

Processclass

Primary Server

-

ECU-Abstraction SWC

Firmware

Fulfiller

-

ECU-Abstraction SWC

Firmware

Requestor

-

Scenario Testscenario


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Outline


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Characteristic Map Automata

CMA

Continuous System

Linear System

Non-Linear System


Discrete System

Moore Automaton

Mealy Automaton

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Outline


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Conclusion

• High-End plug-in hybrid, i.e. digital passenger cars can mechanically be constructed by using elements from „urban“ E-cars and “rural area” downsized combustion engine cars. • From a control-engineering point of view, the functional architecture of a high-end plug-in hybrid car represents a reference architecture. • The functional architecture of „urban“ E-cars and „rural area“ combustion engine cars are just a variant of the reference architecture. • The Cartronic ordering scheme determines the hierarchical representation of the system. • Cartronic elements need a transformation to a component oriented language, e.g. AUTOSAR. • Characteristic Map Automata implement the internal behavior of components representing Cartronic coordinators.


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Websources

Fig 1a: http://data.motor-talk.de/data/galleries/0/8/7330/52923638/nordschleife-uf-82122641779325491717.jpg Fig 1b: Englisch Version http://link.springer.com/article/10.1007%2FBF03242137#page-1, or German Version http://link.springer.com/article/10.1007%2FBF03223875#page-1 Fig 2a – d:http://de.wikipedia.org/wiki/BMW_M3 Fig 3: http://www.bmwsyndikat.de/bmwsyndikatforum/bmw_news_blog_t295017_BMW_M3__F80__Automobil_und_BMW_News-Blog.html Fig 4:http://www.griffinmodels.com/the-saab-way/the-saab-way-1978.html Fig 5a:http://www.ebay.de/itm/Autozeitung-19-1978-Saab-99-Turbo-mit-145PS-besserals-/231036924068 Fig 5b:http://www.ebay.de/itm/Sport-Auto-08-1978-Saab-99-Turbo-mit-145PS-besserals-/231019981333 Fig 6a:http://www.flickr.com/photos/aid85/418839001/ Fig 6b: http://www.auto-motor-und-sport.de/news/bmw-i8-auf-der-iaa-2013-erster-hybridsportlwagen-3973297.html © FH AACHEN UNIVERSITY OF APPLIED SCIENCES

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Websources

Fig 7: http://www.autozeitung.de/auto-neuheiten/bmw-i8-i3-live-fotos-iaa-2013-rundgangelektro-hybrid-sportwagen-gn-402397?panorama=1 Fig. 8: http://img3.auto-motor-und-sport.de/BMW-2er-Active-Tourer-218d-GenferAutosalon-Messe-2014-articleTitle-635045fc-760959.jpg Fig 9: http://www.auto-motor-und-sport.de/news/bmw-i8-auf-der-iaa-2013-erster-hybridsportlwagen-3973297.html Fig 10: http://www.mein-elektroauto.com/2013/10/5-gruende-warum-sich-das-elektroauto-bmwi3-von-den-anderen-elektrofahrzeugen-abhebt/11344/ Fig 11: http://de.autoblog.com/2012/09/14/premiere-in-paris-bmw-kompakt-van-active-tourer/ Fig 12: http://www.blogcdn.com/de.engadget.com/media/2012/04/bmw-i8-spyder-211333373108.jpg


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