…after a long commercial roller-coaster Saab passenger cars ..... Fig 5a:http://
www.ebay.de/itm/Autozeitung-19-1978-Saab-99-Turbo-mit-145PS-besser-.
(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
14. März 2014 | 2
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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14. März 2014 | 3
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
14. März 2014 | 4
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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14. März 2014 | 5
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
14. März 2014 | 6
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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14. März 2014 | 7
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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14. März 2014 | 9
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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14. März 2014 | 10
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:
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
Fig 9
14. März 2014 | 11
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
14. März 2014 | 12
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.
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
14. März 2014 | 13
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
Chassis Mgnt Lateral Dynamics
Yaw Dyn.
Arbitrated Signals for Actuator …
… Brake
Top-Down: One to Many © FH AACHEN UNIVERSITY OF APPLIED SCIENCES
Cmb. Eng.
Gearbox
Damper Roll-bar Steering
14. März 2014 | 14
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
Damper Roll-bar Steering
Vehicle Coordinator Powertrain Mgnt Longitudinal Dynamics
Chassis Mgnt Lateral Dynamics
Yaw Dyn.
Arbitrated Signals for Actuator …
… Brake
Top-Down: One to Many © FH AACHEN UNIVERSITY OF APPLIED SCIENCES
Cmb. Eng.
Gearbox
Damper Roll-bar Steering
14. März 2014 | 15
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.
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
14. März 2014 | 16
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
14. März 2014 | 17
Cartronic System
•
Brake/accl split
? Wheeldata
•
!
!
ACC
Acceleration
• • Brake
•
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
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
• •
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
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
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
!
14. März 2014 | 20
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.
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
14. März 2014 | 21
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
14. März 2014 | 22
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
14. März 2014 | 23
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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14. März 2014 | 24
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
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
3. Brake
Accelerator
14. März 2014 | 25
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?
BatterySOC E-Motor / Generator
Whlspd 1. Brake req!
Brake
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
6. Brake
Accelerator
14. März 2014 | 26
Braking with Recuperation
5. Brake req!
Vehicle Coordinator 6. Recup
6. Brake
Vehicle Motion Coord.
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?
BatterySOC E-Motor / Generator
Whlspd 1. Brake req!
Brake
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
8. Brake
Accelerator
14. März 2014 | 27
Acceleration
Vehicle Coordinator
4.Acclreq!
5. Accl. Comb. Eng.
Vehicle Motion Coord.
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
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
Accelerator
14. März 2014 | 28
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
14. März 2014 | 29
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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14. März 2014 | 30
Cartronic System with shared Inquiry
? ?
?
?
!
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
14. März 2014 | 31
Global vs. Local Data in AUTOSAR
Actuator-SWComponent ECU-Abstraction Component
ECU-Abstraction Component SensorSWComponent © FH AACHEN UNIVERSITY OF APPLIED SCIENCES
14. März 2014 | 32
Global vs. Local Data in TITUS
Function Monitor
Primary Server Fulfiller
Requestor
Primary Client
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14. März 2014 | 33
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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14. März 2014 | 34
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
14. März 2014 | 35
Characteristic Map Automata
CMA
Continuous System
Linear System
Non-Linear System
© FH AACHEN UNIVERSITY OF APPLIED SCIENCES
Discrete System
Moore Automaton
Mealy Automaton
14. März 2014 | 36
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
14. März 2014 | 37
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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14. März 2014 | 38
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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