CEDES cost efficient dependable electronic systems

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1 CEDES cost efficient dependable electronic systems IVSS Project Report

2 The IVSS Programme The IVSS programme was set up to stimulate research and development for the road safety of the future. The end result will probably be new, smart technologies and new IT systems that will help reduce the number of traffic-related fatalities and serious injuries. IVSS projects shall meet the following three criteria: road safety, economic growth and commercially marketable technical systems. Injury prevention Crash avoidance IVSS Business growth on a global market Product excellence Premium requirements Cost Three interacting components - for better safety, growth and competitiveness: The human being Preventive solutions based on the vehicle s most important component. The road Intelligent systems designed to increase security for all road users. The vehicle Active safety through pro-active technology. 2

3 Summary A SE projcect Tech and meth for the design, construction, validation and verification of cost eff dep el syst in road veh Top eight Sammanfattning Stödfunktioner Näringspolitiska mål Ny teknik och metodik för kostnadseffektiv elektronik i vägfordon Konkurrenskraft och tillväxt hos underleverantörer Kommersiella mål Säkerhet är ett kärnvärde för svensk fordonsindustri Aktiva säkerhetssystem ger fortsatt internationell framgång Transportpolitiska mål Trafikskadorna skall minskas - nollvisionen är målet Aktiva säkerhetssystem kräver avancerade styrfunktioner Avancerade styrfunktioner realiseras med avancerad elektronik Standardfordon kräver låg kostnad i tillverkning 3

4 Vision and needs Hazard identification in early stages of system development Lightweight process evaluation and improvement for requirements engineering in the automotive industry Acceptance test Deductive verification extended with symbolic fault injection Functional requirements analysis System design Program-level derating of soft errors in brake-by-wire systems Prototypic tool for deductive verification of C programs System integration test Function test Aspect oriented programming as a method for implementing fault handling mechanisms in software A process membership agreement service for a network using TT/ET communication Detailed design Component test An infrastructure for computing dependences, relations, and impact. Construction Title of the report: CEDES final report Author : Håkan Edler Reference number: AL80 A2004: Publication date: 21 jan 2010 Contact person: 4

5 Table of contents 1. Project goals and contribution to IVSS Goal Contribution The CEDES task Facts about CEDES Economy People Publications Diploma work Seminars Conclusions and recommendations Seminars An annotated bibliography

6 1. Project goals and contribution to IVSS IVSS is taking a needs driven / problem oriented approach and has identified three key problem areas for avoiding major road accidents: Impaired drivers or drivers with reduced capability as regards the primary driving task Speed Sense, alert and respond or the driver s ability to adapt to the current or expected traffic situation. Increase driver/vehicle system ability to respond by Just before the unavoidable crashworthiness / mitigation & biomechanics. To support these three problem areas, IVSS has identified the following three functions / systems: Sensor rich embedded systems. Communication platforms & digital road maps/infrastructure Dependable, fault tolerant systems CEDES is a support project in dependable, fault-tolerant systems Goal Based on industrial de-facto standards for architecture in vehicle electronics CEDES will: Develop new, cost-efficient basic technology for components in safety-critical systems. Educate and examine eight new PhDs in safety-critical electronic systems in road vehicles. CEDES is a project in software engineering Contribution CEDES has conducted research in technology for cost efficient dependable electronic systems and in methodology for the design, construction, validation and verification of such systems. Research in CEDES ha s contributed to the goals of IVSS in the following way: Road safety The goal of Vision Zero is to eliminate fatalities and serious injuries by the year An important way to avoid accidents is to have active safety systems as standard equipment in all road vehicles. Active safety systems assist the driver in dangerous situations and can even take the command when needed. Active safety systems require advanced control, which requires advanced electronics and software. Standard vehicles require low cost components, which applies also to electronic parts, whose share of the manufacturing cost increases.. Technical systems for a global market Automotive industry in Sweden always needs competitive technology for commercial success on a global market. Future electronic systems in road vehicles will require very high dependability and in particular fault-tolerance. Since long safety is a core value for Swedish road vehicle manufacturers and new technology is needed for the rapidly increasing demand of active safety systems. Active safety systems with dependable and cost-efficient electronic systems will enable continued international success. Economic growth 6

7 Automotive industry in the whole supply chain needs attractive products with high reliability and competitive prices. The market for electronic systems for road vehicles is expected to grow dramatically in the near future. With new technology and methodology Swedish automotive industry can grow and create new job opportunities in existing and new companies. CEDES has developed new technology for cost-efficient fault-tolerant mechanisms and new methodology for efficient development of dependable electronic systems in road vehicles. 7

8 2. The CEDES task Can we trust software? A new program has on average 50 faults / kloc (thousand lines of code). Commercial software normally has 3 5 faults / kloc. A majority of failures in new cars depend on faults in the electrical system. An investigation made in 1984 on failures of the IBM mainframe operating systems revealed that 1/3 of all failures had occurred only once at only one customer => MTTF 5000 years. Some software engineering journals regularly reports spectacular failures caused by software faults. The problem The probability of failure in a component of a safety critical system must be < 10-7 / h according to IEC Software testing can never show the absence of faults, it may show the presence of faults Software development is a complicated process with few metrics Software is an abstract product The solution Build safety critical systems to be fault tolerant. They must tolerate Faults in input, operation and design Failures in hardware Hence the software system must automatically Detect Confine Diagnose faults Recover from erroneous state This requires Redundancy more than one unit for a certain function Diversity the function is implemented differently in each unit The CEDES solution Each electronic unit is associated with a manufacturing cost Instead of electronic units use software for the necessary redundancy and diversity Work in CEDES is interdisciplinary Methods to analyse models of software to early identify critical parts Techniques to build fault tolerant parts in software Techniques to analyse software with mathematical formalism Methods to control work in development of software Methods to measure progress and quality in suppliers work Experiments on real system to verify research results Close co-operation with other research projects 8

9 3. Facts about CEDES 3.1. Economy Progress in CEDES was tracked with the aid of score cards on: Cost Credits achieved by PhD students Publications accepted Diploma work finished Attendees at seminars The last versions of these score card accompany the text in this report. The goals in the were set at the beginning of the project and never changed Key facts 44 MSEK total budget for the project MSEK grants from VINNOVA MSEK investment by industrial partners credits finished by PhD students in Dec credit here = 1.5 hec. 31 articles published at conferences or in journals. 24 diploma work with 39 students in total. 29 seminars with 1033 attendees in total. CEDES was projected to last from Oct 2004 to Sep As it took time for Chalmers to recruit PhD students their part of CEDES continues until Dec All other partners finished their part of the project in Partners Volvo Car Corporation Volvo Technology Corporation Autoliv Electronics AB Chalmers University of Technology, dept. of Computer Science and Engineering SP Technical Research Institute of Sweden Accumulated cost Project costs has mainly followed budget. VCC put more effort into the project initially to give it a good start. Chalmers took some time to find PhD students; hence they had at the end of 2008 not consumed grants in the planned rate and will continue the project until the end of

10 CEDES t o m 2008 kv ksek Beviljat Budget Utfall Totalt VCC VTEC Autoliv Chalmers SP CEDES kostnader Utfall Budget kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv 4 10

11 Organisation Håkan Edler. SP, was the project leader and Peter Öhman, Chalmers, was the technical leader. Work in CEDES was controlled by a steering committee with members: Olle Bridal, VTEC Jakob Axelsson, VCC Kent Pettersson initially and later Lars Faber Autoliv Peter Öhman, Chalmers and Håkan Edler, SP, chairman The steering committee met twice a year. All people working in CEDES met once a year in a project conference, where current results were presented and future directions of research in the project discussed. All PhD students, the technical leader and the project leader met every Monday to report last weeks work, discuss it and plan work to be done. These meetings proved to be very efficient, as all PhD students had to report their work and became aware of all other s work. Many fruitful discussions and co-operation between the students were some results of these weekly meetings People PhD students Licentiate PhD Founded by IVSS: year year Martin Ivarsson Fredrik Pettersson Daniel Skarin Daniel Larsson, Gustav Munkby Founded by Chalmers University of Technology: Ruben Alexandersson Founded in part by industry: Carl Bergenhem, SP Fredrik Törner, VCC All eight PhD-students have achieved their licentiate degree. Two left the project and went to industry after the licentiate degree. The remaining six will have achieved their PhD degree by the end of In total the CEDES PhD students have achieved 1000 credit by the end of The value of these credits are according to an old system in use when CEDES started. 1 old credit has the value of 1.5 hec higher education credits. 1 old credit correspond to 1 weeks work, so 40 old 11

12 credits correspond to a full years study. 160 credits are required for the degree of PhD, 40 for courses and 120 for publications. PhD students from other project in software engineering participated in our work and attended the weekly meetings. They are: Ana Magazinovic Johan Magnusson Tord Holmqvist Joakim Pernstål Ali Shahrokni Sammanställning doktorander Utfall Mål april 2011 april 2011 januari 2011 oktober 2010 juli 2010 april 2010 januari 2010 oktober 2009 juli 2009 april 2009 januari 2009 oktober 2008 juli 2008 april 2008 januari 2008 oktober 2007 juli 2007 april 2007 januari 2007 oktober 2006 juli 2006 april 2006 januari 2006 oktober 2005 juli 2005 april 2005 januari Key people Mr Håkan Edler, SP, project leader Dr Peter Öhman, Chalmers, technical leader and supervisor Dr Jakob Axelsson, VCC, member of the steering committee Dr Olle Bridal, VTEC, member of the steering committee Mr Lars Faber, Autoliv, member of the steering committee Mr Kent Pettersson, Autoliv, member of the steering committee Dr Roger Johansson, Chalmers, responsible for the development of an experiment system Prof Johan Karlsson, Chalmers, supervisor and examiner Prof Reiner Hähnle, Chalmers, supervisor and examiner Doc Sibylle Schupp, Chalmers, supervisor and examiner 12

13 In addition to these people a large number of engineers from partner companies have been involved in the project. They have both participated in the work of the PhD students and worked with in-house project, where technology from CEDES was applied Scentific work and publications Här lägger vi en kort beskrivning av vad varje doktorand arbetat med. 31 articles are accepted at conferences and journals with a referee system. 80 Antal artiklar Accepterade Inskickade Mål april 2011 januari 2011 oktober 2010 juli 2010 april 2010 januari 2010 oktober 2009 juli 2009 april 2009 januari 2009 oktober 2008 juli 2008 april 2008 januari 2008 oktober 2007 juli 2007 april 2007 januari 2007 oktober 2006 juli 2006 april 2006 januari 2006 oktober 2005 juli 2005 april 2005 januari Diploma work 39 students at Chalmers University of Technology have worked with sub-project in CEDES as their diploma work. 35 of the projects were work for a master s degree and 4 for a Bachelor s degree. 16 of the projects built an experiment system for CEDES intended for tests of research results in the project. The system they built is a model of a distributed ABS-system, where each brake is a node in a distributed computer control system. All control modules are modelled in Simulink, which are directly compiled to executables in the nodes. These projects together built the system, where one project could use the results from earlier projects. They addressed a wide area of subjects: Distributed control systems Dependable systems FlexRay and TTCAN Membership agreement 13

14 Fault injection in executable model Simulation Autosar 4 of the projects worked with formal methods for specification and verification of software and the tool KeY for work with these methods. 2 projects investigated what cost efficiency means in development, manufacturing and use of electronic system for road vehicles. 2 projects worked with different methods for factoring out fault handling mechanism from application code: Aspect oriented programming and exception handling. Electronic control units in GAST-nodes Brake control FlexRay / TTP / TTCan Vehicle control Brake 1 Brake 2 Brake 3 Brake 4 PT control ACC Driver controls Analogue and digital signals between GAST-units and xpc interfaces Wheel 1 Wheel 2 Powertrain Wheel 3 Wheel 4 Traffic Driver xpc environment simulator 3.5. Seminars The first Thursday in each month during Chalmers semester time CEDES gave a seminar for the dissemination of results from the project. Target groups were automotive engineers and other researchers working with dependable electronic systems. Invitations were sent to all automotive engineers in Sweden and to all suppliers to the automotive industry. CEDES gave 29 seminars and in total 1033 people attended the seminars. 14

15 Ackumulerat antal deltagare på seminarier Utfall Mål kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv kv 1 15

16 4. Conclusions and recommendations CEDES conducts research in new technology and new methodology for development of cost efficient, dependable electronic systems in road vehicles. The research will give the automotive industry eight new engineers with knowledge in dependable systems and their knowledge lies in the front line of current research. The industrial partners have already used research results from CEDES in their product development projects. Top eight specific results Hazard identification in early stages of system development Lightweight process evaluation and improvement for requirements engineering in the automotive industry Aspect oriented programming as a method for implementing fault handling mechanisms in software An infrastructure for computing dependences, relations, and impact. A process membership agreement service for a network using TT/ET communication Program-level derating of soft errors in brake-by-wire systems Prototypic tool for deductive verification of C programs Deductive verification extended with symbolic fault injection An experiment system Dissemination Research results from CEDES and knowledge from the project is disseminated in several ways: Eight new researchers Technology and methodology in use at the project s partners Seminars for automotive engineers and other researchers Diploma work for university students Articles at conferences and in journals Knowledge from the project is used in courses at Chalmers 16

17 5. Seminars 12 May 2005 Martin Ivarsson and Fredrik K F Pettersson, Förbättrad styrning i fordonsindustrins leverantörskedja 2 Jun 2005 Roger Johansson, Schemaläggning av tids- och händelsestyrd kommunikation på CANbussen 15 Sep 2005 Sibylle Schupp, Generic software libraries: Design once, run anywhere 13 Oct 2005 Ruben Alexandersson, Aspektorienterad programmering 3 Nov 2005 Reiner Hähnle, Formal verification of source code 1 Dec 2005 Martin Hiller, Propagering av fel i programvara 2 Feb 2006 Carl Bergenhem, Teknisk implementering av ett FlexRaysystem 2 Mar 2006 Jonny Vinter, Feltolerant programvara för styrsystem 17 Mar 2006 Paul Raistrick, Scade for automotive applications 6 Apr 2006 Gustav Munkby, Exception safety 4 May 2006 Daniel Larsson, Symbolisk felinjicering 17 May 2006 Kavi Arya, The Use of a Data Recorder for Driver Rating 1 Jun 2006 Josef Nilsson and Robert Hammarström, En jämförande studie av kodgeneratorer för Simulink 7 Sep 2006 Camilla Lindström, Hur förbättra tidsestimering av mjukvaruprojekt 5 Oct 2006 Fredrik Törner, Hazard identification in early system design phases 2 Nov 2006 Peter Öhman, Agile software development 1 Feb 2007 Daniel Skarin, Kostnadseffektiv feltolerans för reglersystem 1 Mar 2007 Patrik Palo, Funktionstillväxt kontra säkerhet i bil m h a integration och interaktionskoncept 12 Apr 2007 Olle Bridal, Principer för utveckling av säkerhetskritiska system - Slutsatser från EASIS 7 Jun 2007 Halvdagskonferens 7Jun 2007 Fredrik Pettersson and Martin Ivarsson, Light-Weight Software Process Assessment and Improvement Planning 4 Oct 2007 Ana Magasinovic, Qualitative research concerning cost estimation and manufacturing of vehicles with focus on development of software based systems in the automotive domain 1 Nov 2007 Reiner Hähnle, Generating Unit Tests from Formal Proofs 6 Dec 2007 Carl Bergenhem, Redundanshantering med membership 12 Jun 2008 Halvdagseminarium 4 Sep 2008 Jan Jacobson, Active safety functions can we evaluate their excellence? 2 Oct 2008 Kristina Forsberg, FoU kring IMA, Integrerad Modulär Avionik 6 Nov 2008 Erik Fröstad and Jakob Tivell, Kostnadseffektiv bilelektronik - Vad är det? 4 Dec 2008 Halvdagseminarium, sammanfattning av projektet 17

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