(Towards) Software Design Means for Digital Passenger Cars

(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 more power a car has, the better it is the more cylinders a car has, the better it is the more sound a car has, the better it is, but the lighter a car is, the better it is the 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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 Fig.2a E 36: 6 Cylinder, 3000 ccm, 286 hp, Fig.2b E 46: 6 Cylinder, 3200 ccm, 343 hp, Fig.2c E 92: 8 Cylinder, 4000 ccm, 420 hp, 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 FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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 after a long commercial roller-coaster Saab passenger cars are now history Fig.5b 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 FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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 Turbo charged 3R Gasoline Engine 231 PS, 320 Nm E-Motor 131 PS, 250 Nm All-Wheel-Drive Kerb-Weight: 1490 Kg FH AACHEN Fig.3 UNIVERSITY OF APPLIED SCIENCES 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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: Fig 9 FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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 Chassis Mgnt Control Algorithm Architecture Plug-In Hybrid Longitudinal Dynamics Lateral Dynamics Arbitrated Signals for Actuator Yaw Dyn. Vehicle Coordinator E-Motor 1 Brake Powertrain Mgnt Chassis Mgnt Gearbox Damper Longitudinal Dynamics Lateral Dynamics Yaw Dyn. Roll Dyn. Pitch Dyn. Steering Arbitrated Signals for Actuator E-Motor 1 E-Motor 2 LockDiff Cmb. Eng. Gearbox Brake Damper Roll-bar Control Algorithm Architecture Downsided Combustion Engined Vehicle Vehicle Coordinator Steering Powertrain Mgnt Chassis Mgnt Longitudinal Dynamics Lateral Dynamics Yaw Dyn. Arbitrated Signals for Actuator Top-Down: One to Many Cmb. Eng. Gearbox Brake Damper Roll-bar Steering FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 14

Top-Down: Derive Variants of Functional Architectures Control Algorithm Architecture Electrical Vehicle Vehicle Coordinator Vehicle Coordinator Powertrain Mgnt Chassis Mgnt Powertrain Control Algorithm Mgnt Architecture Plug-In Hybrid Vehicle Chassis Mgnt Longitudinal Dynamics Lateral Dynamics Arbitrated Signals for Actuator Yaw Dyn. Vehicle Coordinator Longitudinal Powertrain Mgnt Dynamics Longitudinal Dynamics Lateral Dynamics Arbitrated Signals for Actuator 1 E-Motor 1 E-Motor 2 E-Motor Cmb. Eng. 2 LockDiff Gearbox Lateral Dynamics Chassis Mgnt Yaw Dyn. Roll Dyn. Arbitrated Signals for Actuator Cmb. Eng. Roll-bar Steering Brake Damper LockDiff Gearbox Pitch Dyn. Yaw Dyn. Roll Dyn. Roll-bar Steering Brake Damper Pitch Dyn. E-Motor 1 Vehicle Coordinator Powertrain Mgnt Longitudinal Dynamics Gearbox Lateral Dynamics Arbitrated Signals for Actuator Chassis Mgnt Yaw Dyn. Steering Brake Damper Control Algorithm Architecture Combustion Engine Vehicle Top-Down: One to Many Cmb. Eng. Gearbox Brake Damper Roll-bar Steering FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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 A Cartronic system consist of the following components: subsystems, coordinators, and Brake/accl split!? Wheeldata! information providers. There are three kind of connectors: Inquiry Request?! Acceleration Brake ACC 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 18

Cartronic System Vehilce Movement Yawrate Suspension?!! Steering Brake/Accl split? Wheeldata! Acceleration! Brake ACC! 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 19

Cartronic System Vehilce Movement? Yawrate 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 E- Motor 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 24

Braking incl. ABS Control Vehicle Coordinator Vehicle Motion Coord. yawreate Comb. Eng. Pwt-Coord. Electrical. Pwt-Coord. Longittud. Coord. 2. Whlspd? Steering BatterySOC Whlspd E-Motor / Generator 1. Brake req! 3. Brake Brake Accelerator FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 25

Braking with Yaw Moment Reduction Vehicle Coordinator Vehicle Motion Coord. 4. YawRate? Comb. Eng. Pwt-Coord. Electrical. Pwt-Coord. 3. Brake req! Longittud. Coord. 5. Brake 2. Whlspd? yawreate Steering BatterySOC Whlspd E-Motor / Generator 1. Brake req! 6. Brake Brake Accelerator FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 26

Braking with Recuperation Vehicle Coordinator 5. Brake req! 6. Recup 6. Brake Vehicle Motion Coord. 4. YawRate? Comb. Eng. Pwt-Coord. Battery SOC? Electrical. Pwt-Coord. 8. Recup. E-motor 3. Brake req! Longittud. Coord. 7. Brake 2. Whlspd? yawreate Steering BatterySOC Whlspd E-Motor / Generator 1. Brake req! 8. Brake Brake Accelerator FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 27

Acceleration Comb. Eng. Pwt-Coord. 5. Accl. Comb. Eng. 6. Battery SOC? BatterySOC Electrical. Pwt-Coord. E-Motor / Generator Vehicle Coordinator 5. Accl. E-motor 7. Accl. E-motor 4.Acclreq! 3. Acclreq! Vehicle Motion Coord. Longittud. Coord. YawRate? Steer req! 2. Whlspd? Whlspd 1. Acclreq! yawreate Steering Brake Accelerator FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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-SW- Component ECU-Abstraction Component ECU-Abstraction Component Sensor- SW- Component FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 32

Global vs. Local Data in TITUS Function Monitor Primary Server Fulfiller Requestor Primary Client FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 33

Designarchitecture vs. Softwarearchitecture AUTOSAR TITUS-SW TITUS- Architecture 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 ECU-Abstraction SWC Firmware Fulfiller - Firmware Requestor - Scenario Testscenario FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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 Discrete System Linear System Non-Linear System Moore Automaton Mealy Automaton FH AACHEN UNIVERSITY OF APPLIED SCIENCES 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. FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 38

Websources Fig 1a: http://data.motor-talk.de/data/galleries/0/8/7330/52923638/nordschleife-uf-8-2122641779325491717.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.bmw- syndikat.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 6a:http://www.flickr.com/photos/aid85/418839001/ Fig 6b: Fig 5b:http://www.ebay.de/itm/Sport-Auto-08-1978-Saab-99-Turbo-mit-145PS-besserals-/231019981333 http://www.auto-motor-und-sport.de/news/bmw-i8-auf-der-iaa-2013-erster-hybridsportlwagen-3973297.html FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 39

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-genfer- Autosalon-Messe-2014-articleTitle-635045fc-760959.jpg Fig 9: Fig 10: Fig 11: http://de.autoblog.com/2012/09/14/premiere-in-paris-bmw-kompakt-van-active-tourer/ Fig 12: http://www.auto-motor-und-sport.de/news/bmw-i8-auf-der-iaa-2013-erster-hybridsportlwagen-3973297.html http://www.mein-elektroauto.com/2013/10/5-gruende-warum-sich-das-elektroauto-bmwi3-von-den-anderen-elektrofahrzeugen-abhebt/11344/ http://www.blogcdn.com/de.engadget.com/media/2012/04/bmw-i8-spyder-21-1333373108.jpg FH AACHEN UNIVERSITY OF APPLIED SCIENCES 14. März 2014 40