Browse Topic: Electronic control units

Items (303)
Find
Event-triggered Model Predictive Control for Autonomous Vehicle with Rear Steering2022-01-105903/29/2022
This paper proposes a new model predictive control design for autonomous vehicle path tracking problem. The vehicle is equipped with active rear steering and the propulsion system is assumed to be controlled by separate controller. Traditional nonlinear model prediction control (NMPC) has been shown to provide satisfactory control performance in this problem. However, the high throughput of NMPC limits its implementation in production vehicle. To address this issue, we propose a novel event triggered NMPC formulation, where the NMPC is triggered only when the actual states deviate from prediction beyond certain threshold. When NMPC is not triggered, the optimal control sequence computed from last triggering event is shifted to determine the control action. Simulation is conducted using bicycle model as prediction model, and the AV is set to follow a sinusoidal reference path with propulsion torque. Numerical results show significant throughput reduction of event triggered NMPC while
huang, Shan, Chen, Jun
Key Fob Relay Attack Prevention With Pattern Matching2022-01-013203/29/2022
Key FOB relay attack is new form of cybersecurity attack which was demonstrated by hacker on many vehicles from different manufacturers. In this type of attack the hacker works in pair. 1 hacker will be near the vehicle and other is positioned near the user who has keys. Hacker initiates the communication between key fob and vehicle by catching signals with RF receiver and retransmitting signals through the Signal generator. This way hacker creates a RF bridge between vehicle and key fob. Since both ECU’s are communicating with each other they assume that user is near car. After security handshake car is unlocked and engine can also be started This paper is a new solution which will provide some degree of defense for this attack. This logic is built around the power level of received signal between the vehicle and key fob. Both vehicle ECU and key fob will have capability to evaluate the power level of received RF signal. Vehicle ECU and KeyFob Ecu’s will evaluate the power level of
Kulkarni, Ashwin
UDS Security Access for highly-constrained ECUs2022-01-015203/29/2022
Legacy electronic control units are, nowadays, required to implement cybersecurity measures, but they often do not have all the facilities that are necessary to realise industry-standard cybersecurity controls. Such systems must still be protected with a sufficient level of rigor against attackers who wish to modify their operation or extract confidential information from them. Due to cost constraints, it is desirable that such systems can be used in vehicles across the fleets of many different manufacturers without software changes. A critical interface to defend is the Unified Diagnostics Service (UDS) interface which is used in so many areas across the whole vehicle lifecycle. While the classic UDS service $27 (Security Access) has a reputation for poor cybersecurity, there is nothing inherent in the way it operates which prevents a secure access-control from being implemented. Indeed a number of very different implementations exist across the industry, but all have slightly
Thompson, Martin
Designing a Next Generation Trailer Braking System2021-01-126810/11/2021
Passenger vehicles have made astounding technological leaps in recent years. Unfortunately, little of that progress has trickled down to other segments of the transportation industry leaving opportunities for massive gains in safety and performance. In particular, the electric drum brakes on most consumer trailers differ little from those on trailers over 70 years ago. Careful examination of current production passenger vehicle hardware and trailering provided the opportunity to produce a design and test vehicle for a plausible, practical, and performant trailer braking system for the future. This study equips the trailer with high control frequency antilock braking and dynamic torque distribution through use of passenger vehicle grade apply hardware. Combining an electrically boosted one-box brake actuator with a complement of sensors allows one to leverage existing brake and chassis controls to produce high performance with minimal controls changes and off the shelf hardware in the
Reini, Steven, Spry, Douglas, Marmara, Stacey, Brinkman, Todd
Automatic Alert System to enable safe ride and to prevent accidents in Two Wheelers and Three Wheelers2021-28-023310/01/2021
In Midway, accidents are general in nature on the highways. Vehicles meeting the accidents are not saved in a faster way for the rescue. This system operates the signal from the seat belt sensor, during the operation of the vehicle. An Electronic Control Unit (ECU) has been deployed to provide the information about the passenger mobile phone contacts and the nearest safety officer with respect to the Global Positioning System installed in the vehicle. The signal from the seat belt fastening system for the driver and the front seat passenger is indicating the dearer contacts and the health of the centers for the rapid recovery of the vehicle met with an accident. This ECU also monitors the health condition of the passengers for the safety ride with respect to the pressure and the temperature of the cabin to make the passenger a safe ride. 20 sensors are deployed in the seat belt and the signals from these sensors are fed into an electronic control unit for further processing. The
B, Prabakaran, Chinni, Venkata Sai Sandeep, Chitta, Phani Kumar
Coalesce of Artificial Intelligence into ADAS Hardware-In-the-Loop Testing2021-01-019304/06/2021
Automotive industry is inclined towards connected, comfortable, environment friendly, efficient and smarter systems. Advanced Driver Assist System (ADAS) technology assist drivers to achieve a safer as well as better ride by automation and improvisation of the vehicular systems. With the advent of ADAS system, there is a significant focus not only in the development of Electronic Control Units (ECUs) and its features to cater to the emerging market but also on the information that could be displayed to meet the functional as well as safety requirements. This ADAS information display ensures timely notification to the driver with unique alerts that can be acoustic or visual. These systems should be tested thoroughly to ensure reliability as failures may impose severe risk on the OEM. Hardware in the loop testing has been largely adopted by industry against manual testing in lieu of the testing constraints imposed by the latter. This paper discusses on the existing test methods for ADAS
Krishnamoorthy, Bharathi, Nammalwar, Giri, Wulf, Torsten, Pazhur, Nandini
The Analysis of the Contribution Factor on EPB Actuating Noise by Using OPAX2020-01-160810/05/2020
As eco-friendly cars such as electric and hybrid vehicles increases and the quietness of vehicles is getting better, the importance of reducing noise heard by passengers that has been masked otherwise is increasing. At the same time, with the vehicle's electrification and needs of advanced technology, EPB (Electric Parking Brake) has been expanding which was mainly introduced to luxury vehicles. EPB system consists of an electronic control unit (ECU) and actuators with simple switch operation instead of a hand or foot control to apply the parking brake. Because EPB is normally driven by motors and gear sets, actuation of EPB results in noise. It is difficult problem to reduce EPB noise in the development stage and much research has been carried out. Generally EPB noise consists of airborne noise which sounds from the EPB itself and is transmitted to the driver through air and structure borne noise which is transmitted through vibration of the rigid-body such as calipers, knuckles
Lee, Jinwook
State of the art survey on comparison of CAN, Flexray, LIN Protocol and Simulation of LIN protocol2020-01-129304/14/2020
Controller area network (CAN), FlexRay and local interconnect network (LIN) digital protocols are commonly used for communication in modern vehicles. A modern vehicle contains up to 70 electronic control units. This paper is about the literature review of these protocols. We also implement these three protocols. The communication cycle, process, message structure, and hardware elements are discussed for all three protocols. Performance is measured in terms of reliability and latency. In addition, a comparison between the CAN, flexRay and LIN protocols is made. Experimental results indicate that CAN protocol has advantage when it comes to real-time priority based communication. However, if all the events have equal priority, then FlexRay works well, LIN prtocol is budget friendly and has lowest cost in all 3 protocols but at the same time it is unreliable.
Hafeez, Azeem, Topolovec, Kenneth, Zolo, Carmen, Sarwar, Waqas
Maintaining Data Protection and Security for the Connected CarTBMG-3527110/01/2019
The connected car has already become a reality. It is a subject not just electrifying customers and manufacturers but also security researchers and IT experts. And in a worst-case scenario, criminal hackers as well. For years, security experts have observed the fact that the desktop PC is not the only target of digital attacks anymore. A large part of the malware is now customized to hit mobile devices. It would be negligent to believe that this development would leave the connected car unmolested.
Braking Requirements for Optimizing Autonomous Emergency Braking Performance2019-01-212709/15/2019
Vehicle technology new developments have contributed to improve vehicle structural performance and therefore passive protection, but also the inclusion of electronic control units has provided new opportunities to expand active safety systems. This is the case for systems like anti-lock braking systems (ABS), electronic stability control (ESC) and brake assist (BA) among others. A more advanced generation of active systems includes sensorial units that monitor vehicle’s surrounding and detect potential hazards, such as an imminent collision, and performs an automatically and commanded emergency braking to lessen or mitigate the consequences of the impending accident. For this latest system, the so-called autonomous emergency braking (AEB), various consumer testing protocols, such as Euro NCAP protocols [1], propose and periodically update test catalogues in order to evaluate the performance of such systems and later to inform potential consumers. The aim of this study is to investigate
Esquer Molina, Álvaro, Bargallo, Jordi
BlackBerry Tech Duo Sees Emergence of Vehicle-based Platforms19AVEP09_0709/01/2019
Though likely to provide the OS of autonomy, BlackBerry also anticipates a larger shift to automobiles as software platforms. At 2019's TU Automotive conference, Autonomous Vehicle Engineering spoke with two of the industry's most important software sages, BlackBerry's John Wall and Kaivan Karimi, both senior vice presidents and co-heads of Blackberry Technology Solutions. The duo's division includes BlackBerry's security services, the nigh ubiquitous QNX architecture along with products including Jarvis, Certicom and Paratek for the Waterloo, Ontario-based company. Sort of like chatting with the Obi-Wan and Yoda of secure-software architectures, the interview provided an animated back-and-forth between the two well-acquainted BlackBerry execs, discussing the emergence of the vehicle as its own software platform.
Seredynski, Paul
Machine Learning Based Technology for Reducing Engine Starting Vibration of Hybrid Vehicles2019-01-145006/05/2019
Engine starting vibration of hybrid vehicle with Toyota hybrid system has variations even in the same vehicle, and a large vibration that occurs rarely may cause stress to the passengers. The contribution analysis based on the vibration theory and statistical analysis has been done, but the primary factor of the rare large vibration has not been clarified because the number of factors is enormous. From this background, we apply machine learning that can reproduce multivariate and complicated relationships to analysis of variation factors of engine starting vibration. Variations in magnitude of the exciting force such as motor torque for starting the engine and in-cylinder pressure of the engine and timing of these forces are considered as factors of the variations. In addition, there are also nonlinear factors such as backlash of gears as a factor of variations. For the variation factor analysis, it is difficult to measure the physical quantities mentioned above from experiments
Shimode, Kento, Ishizaki, Keisuke, Komada, Masashi
The Utilization of Onboard Sensor Measurements for Estimating Driveline Damping2019-01-152906/05/2019
The proliferation of small silicon micro-chips has led to a large assortment of low-cost transducers for data acquisition. Production vehicles on average exploit more than 60 on board sensors, and that number is projected to increase beyond 200 per vehicle by 2020. Such a large increase in sensors is leading the fourth industrial revolution of connectivity and autonomy. One major downfall to installing many sensors is compromises in their accuracy and processing power due to cost limitations for high volume production. The same common errors in data acquisition such as sampling, quantization, and multiplexing on the CAN bus must be accounted for when utilizing an entire array of vehicle sensors. A huge advantage of onboard sensors is the ability to calculate vehicle parameters during a daily drive cycle to update ECU calibration factors in real time. One such parameter is driveline damping, which changes with gear state and drive mode. A damping value is desired for every gear state
Furlich, Jon, Blough, Jason, Robinette, Darrell
Security, bandwidth drive over-the-air development19TOFHP06_1006/01/2019
Over-the-air (OTA) updating has evolved rapidly from a limited function to a wide-ranging technology for keeping vehicle software up to date. As OTA moves deeper into the mainstream, commercial-vehicle suppliers are focusing on security and techniques that efficiently allow downloading of a growing number of files. Truck and off-highway equipment suppliers are racing to extend their offerings. Navistar augmented its Wi-Fi OTA technology with cellular services earlier this year. Volvo Trucks and Mack updated their updating programs last fall. Daimler Trucks recently went global with its OTA offerings. Caterpillar now uses the technology to add features, not just for software patches.
Costlow, Terry
Vulnerability of FlexRay and Countermeasures11-02-01-000205/23/2019
The importance of in-vehicle network security has increased with an increase in automated and connected vehicles. Hence, many attacks and countermeasures have been proposed to secure the controller area network (CAN), which is an existent in-vehicle network protocol. At the same time, new protocols-such as FlexRay and Ethernet-which are faster and more reliable than CAN have also been proposed. European OEMs have adopted FlexRay as a control network that can perform the fundamental functions of a vehicle. However, there are few studies regarding FlexRay security. In particular, studies on attacks against FlexRay are limited to theoretical studies or simulation-based experiments. Hence, the vulnerability of FlexRay is unclear. Understanding this vulnerability is necessary for the application of countermeasures and improving the security of future vehicles.In this article, we highlight the vulnerability of FlexRay found in the experiments conducted on a real FlexRay network. Consequently
Evaluation of the Heavy Vehicle Event Data Recorder for the Freightliner New Cascadia with Detroit Diesel Engines2019-01-063604/02/2019
For model year 2018, Freightliner introduced the New Cascadia model to their lineup of Class 8 trucks. Testing of the Freightliner New Cascadia with Detroit Diesel engines was conducted to evaluate the accuracy of the reported event data contained in the engine Electronic Control Units (ECUs) for these trucks. The testing showed that there are occurrences in DDEC Reports, specifically in the Last Stop Record and Hard Braking event data, when the time between successive event data points was two seconds rather than the reported one second interval. The occurrence of the two-second anomaly was not always present in a Last Stop Record or Hard Braking event. When the two-second anomaly was present in the event data, it occurred randomly and no pattern to when this anomaly occurs was determined. No method was found to be able to detect the presence of this anomaly from the review of a Last Stop Record or Hard Braking event. The testing also showed that the magnitudes of the reported vehicle
Plant, David, Grimes, Wesley, Wilcoxson, Greg, Higgins, Bradley, Shridharani, Jay, DiSogra, Matthew
Raw Data Injection and Failure Testing of Camera, Radar, and Lidar for Highly Automated Systems2019-01-137803/19/2019
This paper explores how to enhance your autonomous system (AS) testing capabilities and quality assurance using a completely automated hardware-in-the-loop (HIL) test environment that interfaces to or simulates autonomous sensor technology, such as cameras, radar, LIDAR, and other key technologies, such as GNSS/maps and V2X communication. The key to performing such real-time testing is the ability to stimulate the various electronic control units (ECUs)/sensors through closed-loop simulation of the vehicle, its environment, traffic, surroundings, etc., along with playback of captured sensor data and its synchronization with key vehicle bus and application data. The latest technologies are introduced, which allow for direct sensor data injection to ECUs/line replaceable units (LRUs) for test interaction and stimulus, in addition to dynamic, on-the-fly modification of sensor data streams. It will be shown how these techniques are integrated with current HIL systems. This paper will also
Hager, Benjamin, Allen, Jace
Evaluation of Engine Programming to Reduce Fuel Consumption2018-01-175709/10/2018
The goal of this study was to evaluate the potential for reducing fuel consumption of heavy-duty vehicles by modifying their engine power ratings through programming of their engine electronic control units. This paper summarizes the activities, observations, and results obtained from tests conducted on a test track to compare default settings with those optimized for potential economic gains and improved performance. Tests for long-distance and regional transport operations were conducted at constant speed. Results from these tests showed considerable fuel savings, of approximately 7%, when the engine power rating was reduced from 450 hp to 400 hp and speed from 105 km/h to 98 km/h. In these tests, the dynamic performance of the vehicles was not affected by the reduction in power. Tests for local delivery operations were conducted on a stop-and-go cycle and showed fuel savings of 4.5% when the engine power rating was reduced from 450 hp to 400 hp, with the driver using a moderate
Surcel, Marius-Dorin, Bonsi, Adime Kofi
Effect of Diesel Injection Timing on Peak Pressure Rise Rate and Combustion Stability in RCCI Engine2018-01-173109/10/2018
In the present study, experiments of reactivity control compression ignition (RCCI) combustion mode is performed on a single cylinder automotive diesel engine with development ECU (electronic control unit). For achieving RCCI combustion mode, low reactivity fuel (i.e., gasoline/methanol) is injected into the intake manifold, and high reactivity fuel (i.e., diesel) is directly injected into the engine cylinder. Mass of fuel injection per cycle and their injection events are controlled using ECU. This study presents the experimental investigation on the effect of high reactivity fuel injection timings on peak pressure rise rate (PPRR) and combustion stability in RCCI engine. The combustion parameters, i.e., PPRR, indicated mean effective pressure (IMEP) and total heat release (THR) are calculated from the in-cylinder pressure measurement data. In-cylinder pressure is measured using a piezoelectric pressure transducer installed on the engine cylinder head. A crank angle encoder of 0.1 CAD
Saxena, Mohit Raj, Maurya, Rakesh Kumar
Hardware-in-the-Loop-Based Virtual Calibration Approach to Meet Real Driving Emissions Requirements2018-01-086904/03/2018
The use of state-of-the-art model-based calibration tools generate only limited benefits for seamless validation in powertrain calibration due to the often neglected system-level simulation of a closed-loop vehicle environment. This study presents a Hardware-in-the-Loop (HiL)-based virtual calibration approach to establish an accurate virtual calibration platform using physical plant models. It is based on a customisable real-time HiL simulation environment. The use of physical models to predict the behaviour of a complete powertrain makes the HiL test bench particularly suited for Engine Control Unit (ECU) calibration. With the virtual test rig approach, the calibration for the critical extended driving and ambient conditions of the new Real Driving Emissions (RDE) requirements can efficiently be optimised. This technique offers a clear advantage in terms of reducing calibration time and costs. The physical nature of the plant models permits to extrapolate the behaviour of the system
Lee, Sung-Yong, Andert, Jakob, Neumann, Daniel, Querel, Carole, Scheel, Thomas, Aktas, Sahin, Miccio, Michele, Schaub, Joschka, Koetter, Matthias, Ehrly, Markus
2021-12-29.TEST Security Mechanisms Design for In-Vehicle Network Gateway2018-01-001804/03/2018
In the automotive network architecture, the basic functions of gateway include routing, diagnostic, network management and so on. With the rapid development of connected vehicles, the cybersecurity has become an important topic in the automotive network. A spoof ECU can be used to hack the automotive network. In order to prevent the in-vehicle networks from attacking, the automotive gateway is an important part of the security architecture. A secure gateway should be able to authenticate the connected ECU and control the access to the critical network domain. The data and signals transferred between gateway and ECUs should be protected to against wiretap attacking. The purpose of this paper is to design a secure gateway for in-vehicle networks. In this paper, the designing process of the automotive secure gateway is presented. Based on the threat analysis, security requirements for automotive gateway are defined. Secure communication, key master, and firewall are proposed as the
Luo, Feng, Hu, Qiang
2021-12-29.TEST Mitigating Unknown Cybersecurity Threats in Performance Constrained Electronic Control Units2018-01-001604/03/2018
Externally-connected Electronic Control Units (ECUs) contain millions of lines of code, which may contain security vulnerabilities. Hackers may exploit these vulnerabilities to gain code execution privileges, which affect public safety. Traditional Cybersecurity solutions fall short in meeting automotive ECU constraints such as zero false positives, intermittent connectivity, and low performance impact. A desirable solution would be deterministic, require minimum resources, and protect against known and unknown security threats. We integrated Autonomous Security on a BeagleBone Black (BBB) system to evaluate the feasibility of mitigating Cybersecurity risks against potential threats. We identified key metrics that should be measured, such as level of security, ease of integration and system performance impact. In this paper, we describe the integration and evaluation process and present its results. We show that Autonomous Security can provide this protection with zero false-positives
Harel, Assaf, Ben David, Tal, Kashani, Ameer, Iyer, Gopalakrishnan, Motonori, Ando, Masumi, Egawa
Accident Reconstruction with Data Recorded by Electronic Control Units in Vehicles with a Pre-crash Safety System2018-01-144004/03/2018
Data recorded by vehicle-mounted electronic control units (ECUs) are highly useful in traffic accident reconstruction. In this context, event data recorders (EDRs) are airbag ECU components used to log information from crash events, typically providing data on speed, accelerator operation, RPMs and brake lamp activation for a period of around 5 s before a collision. Information on accelerator/brake lamp operation is very useful in understanding pre-crash driver actions, but the accuracy of EDR speed data must be checked in this regard. Such data are unlikely to reflect actual speed during brake-related skidding, for example, as they are determined from the rotational speed of the drive train. Thus, it is important to check the accuracy of EDR speed data in accident reconstruction. Meanwhile, pre-crash safety systems (PCSs) are also becoming more widespread in automobile usage today. Such systems automatically apply braking in hazardous situations, and the relevant data recorded in the
Oga, Ryo, Takubo, Nobuaki, Kato, Kenshiro, Terashima, Takaaki, Kida, Yuji, Akita, Kimiya, Ambe, Yuuichiro, Ishii, Akinori
An Analysis of EDR Data in Kawasaki Ninja ZX-6R and ZX-10R Motorcycles Equipped with ABS (KIBS) and Traction Control (KTRC)2018-01-144304/03/2018
Electronic control units (ECU) from Kawasaki Ninja ZX-6R and ZX-10R motorcycles were tested in order to examine the capabilities and behavior of the event data recorders (EDR). All relevant hexadecimal data was downloaded from the ECU and translated using known and historically proven applications. The hexadecimal translations were then confirmed using data acquisition systems as well as the Kawasaki Diagnostic Software (KDS)1. Numerous tests were performed to establish the algorithms which cause the EDR to record data. Issues of sensor and power loss were analyzed and discussed. Additionally, data sets were studied that involved maximum deceleration from ABS brakes. Similarly, data sets that involved traction control intervention were studied and analyzed. It was determined that the EDR recording ‘trigger’ was caused by the activation of the tip-over sensor, which in turn shuts the engine off. However, specific conditions must be met with regards to the rear wheel rotation prior to
Fatzinger, Edward, Landerville, Jon
2021-12-29.TEST Sine Wave Pulse Width Modulation Study for Improving Vehicle Lighting Control *CSP Meta Testing*2018-01-000104/03/2018
Vehicle lighting has become more demanding with different load requirements, strict Electromagnetic Compatibility (EMC) requirements, accuracy requirements, and power consumption requirements. These requirements are all under the constraint of ever shrinking PCB’s driving up the cost of PCB real estate. Pulse width modulation (PWM) is used to control the interior and exterior lighting in vehicles and meet all these requirements. One or more electronic control units in the body domain of a vehicle contain a number of integrated circuits that drive loads using PWM signals. In addition to driving loads, PWM signals are used for things such as dimming and diagnostic functions. In current technology the PWM signal is usually composed of a trapezoidal wave or rounded wave which control bulbs and light emitting diodes (LED) loads in a vehicle. The trapezoidal or rounded wave may not be the most efficient way to meet requirements in the automotive industry due to their sharp rising edges so
Bseileh, Mouhamed
2021-12-29.TEST Delivering Maximal Robustness to Your Automotive ECU on a Frugal Budget *CSP Meta Testing*2018-01-000204/03/2018
Automotive engineering has been a game of delivering more value with minimal resources confronting conflicting design choices at every design step. As more and more electronics enters the game, it becomes imperative to critically evaluate various design choices to deliver a robust hardware backbone which guarantees a robust performance on an ever-reducing budget. Hardware interface with the outside environment in particular needs to be equipped with a significant robustness. Harsh transients, tough environmental conditions, further complicate the rules to the game.
Vaidya, Vishwas
The Combustion Modeling of the Heavy-Duty Diesel Engine Based on Genetic Programming2017-01-218510/08/2017
More and more stringent emission regulations and the desire to reduce fuel consumption lead to an increasing demand for precise and close-loop combustion control of diesel engines. Cylinder pressure-based combustion control is gradually used for diesel engines in order to enhance emission robustness and reduce fuel consumption. However, it increases the cost. In this paper, a new prediction method of combustion parameters is presented for diesel engines. The experiment was carried out on a test bench to obtain the ECU (Electronic Control Unit) signals of a heavy-duty diesel engine by calibration software. The combustion parameters was measured by a combustion analyzer, such as maximum cylinder pressure (MCP), maximum combustion temperature (MCT), and combustion center of gravity (CA50). A combustion model using genetic programming (GP) is built. The input parameters are chosen from the ECU signals, such as engine speed, engine load, injection quantities, inlet air flow rate. The output
He, Chao, Li, Jiaqiang, Zhao, Longqing, Wang, Yanyan, Gu, Wei
Autonomous Key Management (AKM) Security Architecture for Air (and Defense) Vehicles and IoT Applications2017-01-210109/19/2017
This paper discusses the merits, benefits and usage of autonomous key management (with implicit authentication) (AKM) solutions for securing Electronic Module to Electronic Module (i.e. ECUs, FCC, REUs, etc.) communication within air (and defense) vehicles and IoT applications; particularly for transmissions between externally exposed, edge Electronic Module sensors connected to Electronic Modules within the air (and defense) vehicle infrastructure. Specific benefits addressed include reductions of communication latency, implementation complexity, processing power and energy consumption. Implementation issues discussed include provisioning, key rotation, synchronization, re-synchronization, digital signatures and enabling high entropy.
Shields, Jon Barton, Barker, Brian Peirce
Adaptive Cascade Optimum Braking Control Based on a Novel Mechatronic Booster2017-01-251409/17/2017
BBW (Brake-by-wire) can increase the electric and hybrid vehicles performance and safety. This paper proposes a novel mechatronic booster system, which includes APS (active power source), PFE (pedal feel emulator), ECU (electronic control unit). The system is easily disturbed when the system parameters and the outside conditions change. The system performance is weakened. The cascade control technique can be used to solve the problem. This paper develops an adaptive cascade optimum control (ACOC) algorithm based on the novel mechatronic booster system. The system is divided into main loop and servo loop, both of them are closed-loop system. The servo-loop system can eliminate the disturbance which exists in the servo loop. So the robustness of the cascade control system is improved than which of the general closed-loop control system. Different control object is respectively chosen. The control-oriented mathematical model is designed. Based on the control-oriented model, optimum
Han, Wei, Xiong, Lu, Yu, Zhuoping, Li, Haocheng
LED Light Sources Tests and Requirements StandardJ2938_201709 (Current)09/15/2017
This SAE Recommended Practice provides the methods of measurements for electrical and photometric characteristics of LED packages. It provides procedures, requirements, and guidelines for the methods of the measurement of luminous flux and color maintenance of LED devices (packages, arrays, and modules) for ground vehicle lighting applications.
Lighting Standard Practices Committee
MOMENTUM: APRIL 201717MOMP0404/03/2017
All about electronics UniBo Motorsport of the University of Bologna in Italy details its self-developed electronic control units and strategy for use in its Formula SAE cars. Golden Bear strong A dispatch from the coalfields of West Virginia describes the unique set of challenges faced by the Baja SAE team at West Virginia University Institute of Technology. And the SAE Collegiate Cup for best communicators goes to… The Kettering University's snowmobile team for its outstanding presentation to the SAE Mid-Michigan Section.
EDITORIAL: ALL ABOUT CONNECTIONS17MOMP04_0104/01/2017
UniBo Motorsport of the University of Bologna in Italy details its self-developed electronic control units and strategy for use in its Formula SAE cars. Claiming that having good connections is more important today than at any time in the past would be a hard premise to support. But it's probably not a bad idea to consider that premise as true regardless of its actual veracity. What's undeniable is that there are more opportunities than ever to develop good connections, particularly electronic connections (e.g., Facebook). We at SAE International believe we have an exceptionally good mechanism of our own to help student members to make connections-among themselves and among professional members.
Timing Analysis for Hypervisor-based I/O Virtualization in Safety-Related Automotive Systems2017-01-162103/28/2017
The increasing complexity of automotive functions which are necessary for improved driving assistance systems and automated driving require a change of common vehicle architectures. This includes new concepts for E/E architectures such as a domain-oriented vehicle network based on powerful Domain Control Units (DCUs). These highly integrated controllers consolidate several applications on different safety levels on the same ECU. Hence, the functions depend on a strictly separated and isolated implementation to guarantee a correct behavior. This requires middleware layers which guarantee task isolation and Quality of Service (QoS) communication have to provide several new features, depending on the domain the corresponding control unit is used for. In a first step we identify requirements for a middleware in automotive DCUs. Our goal is to reuse legacy AUTOSAR based code in a multicore domain controller. In an example use case scenario, we analyze the end-to-end latency for transmitting
Kohn, Andre, Schmidt, Karsten, Decker, Jochen, Sebastian, Maurice, Züpke, Alexander, Herkersdorf, Andreas
Robust Model-Based Discrete Sliding Mode Control of an Automotive Electronic Throttle Body2017-01-059803/28/2017
Electronic throttle control is an integral part of an engine electronic control unit (ECU) that directly affects vehicle fuel economy, drivability, and engine-out emissions by managing engine torque and air-fuel ratio through adjusting intake charge flow to the engine. The highly nonlinear dynamics of the throttle body call for nonlinear control techniques that can be implemented in real-time and are also robust to controller implementation imprecision. Discrete sliding mode control (DSMC) is a computationally efficient controller design technique which can handle systems with high degree of nonlinearity. In this paper, a generic robust discrete sliding mode controller design is proposed and experimentally verified for the throttle position tracking problem. In addition, a novel method is used to predict and incorporate the sampling and quantization imprecisions into the DSMC structure. First, a nonlinear physical model for an electromechanical throttle body is derived. Parameters of
Amini, Mohammad Reza, Razmara, Meysam, Shahbakhti, Mahdi
Markov Chain-based Reliability Analysis for Automotive Fail-Operational Systems2017-01-005203/28/2017
A main challenge when developing next generation architectures for automated driving ECUs is to guarantee reliable functionality. Today’s fail safe systems will not be able to handle electronic failures due to the missing “mechanical” fallback or the intervening driver. This means, fail operational based on redundancy is an essential part for improving the functional safety, especially in safety-related braking and steering systems. The 2-out-of-2 Diagnostic Fail Safe (2oo2DFS) system is a promising approach to realize redundancy with manageable costs. In this contribution, we evaluate the reliability of this concept for a symmetric and an asymmetric Electronic Power Steering (EPS) ECU. For this, we use a Markov chain model as a typical method for analyzing the reliability and Mean Time To Failure (MTTF) in majority redundancy approaches. As a basis, the failure rates of the used components and the microcontroller are considered. The comparison to a non-redundant system shows a
Kohn, Andre, Schneider, Rolf, Vilela, Antonio, Dannebaum, Udo, Herkersdorf, Andreas
2-Drive Motor Control Unit for Electric Power Steering2017-01-148503/28/2017
The electric power steering (EPS) is increasing its number since there are many advantages compared to hydraulic power steering. The EPS saves fuel and eliminates hydraulic fluid. Also, it is more suitable to the cooperation control with the other vehicle components. The EPS is now expanding to the heavier vehicle with the advance in the power electronics. In order to meet customer's needs, such as down-sizing, lower failure rate and lower price, we have developed the new motor control unit (MCU) for the EPS. The motor and the electric control unit (ECU) were integrated for the better installation. We adopted new technologies of redundant 2-drive design for more safe EPS. “2-drive Motor Control technology” which consists of dual winding, two torque sensors and two inverter drive units. In our developed MCU, even if there is a failure in one of the drive unit, the assistance of the EPS can be maintained with the other drive unit.
Hiramine, Mikihiro, Hayashi, Yoshitaka, Suzuki, Takashi
A Unified Creep-Speed Control Approach for Automated Parking System2017-01-060903/28/2017
This paper presents a unified creep-speed controller specifically designed for the automated parking system of an automated manual transmission vehicle, whereby the engine management system, transmission control unit, and electronic stability control system can work cooperatively and harmoniously within the same control framework. First, a novel reference speed generator is designed and employs sinusoidal functions to produce the speed profile based on the maneuver-dependent distances computed by a path planner, such that the lag in vehicle response during start-up can be effectively reduced. Second, a well-tuned PID controller is adopted to determine the resultant longitudinal force in attempt to follow the reference speed and eliminate the distance error during the parking maneuvers. Third, the electronic control units in the powertrain and brake systems interact with one another and generate exclusive control actions in order to achieve the desired motion control command, where the
Song, Pan, Xie, Shugang, Zhong, Yuan, Gao, Bolin
The Study of Secure CAN Communication for Automotive Applications2017-01-165803/28/2017
Cyber security is becoming increasingly critical in the car industry. Not only the entry points to the external world in the car need to be protected against potential attack, but also the on-board communication in the car require to be protected against attackers who may try to send unauthorized CAN messages. However, the current CAN network was not designed with security in mind. As a result, the extra measures have to be taken to address the key security properties of the secure CAN communication, including data integrity, authenticity, confidentiality and freshness. While integrity and authenticity can be achieved by using a relatively straightforward algorithms such as CMAC (Cipher-based Message Authentication Code) and Confidentiality can be handled by a symmetric encryption algorithm like AES128 (128-bit Advanced Encryption Standard), it has been recognized to be more challenging to achieve the freshness of CAN message. There has been a lot of research work on this topic in the
Zou, Qingwu, Chan, Wai Keung, Gui, Kok Cheng, Chen, Qi, Scheibert, Klaus, Heidt, Laurent, Seow, Eric
CAN Crypto FPGA Chip to Secure Data Transmitted Through CAN FD Bus Using AES-128 and SHA-1 Algorithms with A Symmetric Key2017-01-161203/28/2017
Robert Bosch GmBH proposed in 2012 a new version of communication protocol named as Controller area network with Flexible Data-Rate (CANFD), that supports data frames up to 64 bytes compared to 8 bytes of CAN. With limited data frame size of CAN message, and it is impossible to be encrypted and secured. With this new feature of CAN FD, we propose a hardware design - CAN crypto FPGA chip to secure data transmitted through CAN FD bus by using AES-128 and SHA-1 algorithms with a symmetric key. AES-128 algorithm will provide confidentiality of CAN message and SHA-1 algorithm with a symmetric key (HMAC) will provide integrity and authentication of CAN message. The design has been modeled and verified by using Verilog HDL – a hardware description language, and implemented successfully into Xilinx FPGA chip by using simulation tool ISE (Xilinx). Verification are done by applying direct test bench with National Institute of Standards and Technology (NIST) test vectors for AES-128, SHA-1, CAN
Doan, Tri P., Ganesan, Subramaniam
Safety Analysis of Heterogeneous Software Models at Implementation Stage2017-01-005103/28/2017
The assessment of the safety and the reliability for embedded systems is mainly performed early in the design cycle, at system level. The objective is to detect the potential failures which could lead to an undesirable event. Given the increasing critical feature of the functions executed by the software in automotive and aeronautics, it becomes necessary to perform safety analysis at lower level of the design cycle such as at implementation stage. However, software models at this stage are complex and heterogeneous so the analyses are often manually realized. As the software models are also very large (thousands of basic software components), the analysis is labor-intensive and error-prone so it is not obvious to obtain relevant results. Therefore, the analysis on software models at implementation stage is often neglected. This paper proposes an efficient safety analysis based on the generation of fault trees and failure modes and effects analysis to assist and induce the engineers to
Godot, Jean, Alif, Adil, Saudrais, Sébastien, Barbedette, Bertrand, Larouci, Cherif
Development of New Generation Battery Management ECU2017-01-120303/28/2017
Recent electric vehicles use Li-ion batteries to power the main electric motor. To maintain the safety of the main electric motor battery using Li-ion cells, it is necessary to monitor the voltage of each cell. DENSO has developed a battery Electronic Control Unit (ECU) that contributes greatly to the reduction of the cost and the improvement of the reliability of the system. Each manufacturer has been developing a dedicated IC for monitoring the voltages of each cell of a battery. However, since the number of cells that can be monitored is limited, more than one IC is required to measure the voltages of a large number of cells. The increase in the number of ICs and the amount of insulator leads to the rise in system cost. DENSO has developed a dedicated IC that uses a proprietary high-breakdown voltage process, and which enables monitoring up to 24 cells with a single IC chip. A battery management ECU using this type of IC helps reduce the cost and physical size of the system by
Inamoto, Takashi, Alger, Lawrence
Over the Air Software Update Realization within Generic Modules with Microcontrollers Using External Serial FLASH2017-01-161303/28/2017
Connecting mobile communication channels to vehicles’ networks is currently attracting engineers in a wide range. Herein the desire of vehicle manufacturers to remotely execute software updates over the air (SOTA) within electronic control units (ECU) is probably the field of highest attention at the moment. Today software updates are typically done at vehicle service stations and connection the vehicles electronic network via the onboard diagnosis (OBD) interface to a service computer. Herby the duration of the update is invisible to the user, as this happens during standard service appointments. With introduction of SOTA, these updates become very convenient to the customer and can lead to higher customer satisfaction levels. SOTA can be made transparent to the user however the method of implementation can affect the user experience. Currently the range of solutions for data storage to address SOTA ranges from: 1 Central Storage Approach whereby external Non-Volatile Memory (NVM) at
Bulmus, Atilla, Freiwald, Axel, Wunderlich, Chris
Autonomous Key Management (AKM) Security Architecture for Vehicle and IoT Applications2017-01-165303/28/2017
This paper discusses the merits, benefits and usage of autonomous key management (with implicit authentication) (AKM) solutions for securing ECU-to-ECU communication within the connected vehicle and IoT applications; particularly for transmissions between externally exposed, edge ECU sensors connected to ECUs within the connected vehicle infrastructure. Specific benefits addressed include reductions of communication latency, implementation complexity, processing power and energy consumption. Implementation issues discussed include provisioning, key rotation, synchronization, re-synchronization, digital signatures and enabling high entropy.
Shields, Jon Barton, Huser, Jörg, Gell, David
Exploiting Consistency Among Heterogeneous Sensors for Vehicle Anomaly Detection2017-01-165403/28/2017
Modern vehicles house many advanced components; sensors and Electronic Control Units (ECUs) — now numbering in the 100s. These components provide various advanced safety, comfort and infotainment features, but they also introduce additional attack vectors for malicious entities. Attackers can compromise one or more of these sensors and flood the vehicle’s internal network with fake sensor values. Falsified sensor values can confuse the driver, and even cause the vehicle to misbehave. Redundancy can be used to address compromised sensors, but adding redundant sensors will increase the cost per vehicle and is therefore less attractive. To balance the need for security and cost-efficiency, we exploit the natural redundancy found in vehicles. Natural redundancy occurs when the same physical phenomenon causes symptoms in multiple sensors. For instance, pressing the accelerator pedal will cause the engine to pump faster and increase the speed of the vehicle. Engine RPM and vehicle speed are
Ganesan, Arun, Rao, Jayanthi, Shin, Kang
Identifying Security Vulnerabilities Early in the ECU Software Development Lifecycle2017-01-165703/28/2017
In the past few years, automotive electronic control units (ECUs) have been the focus of many studies regarding the ability to affect the deterministic operation of safety critical cyber-physical systems. Researchers have been able to successfully demonstrate flaws in security design that have considerable, dramatic impacts on the functional safety of a target vehicle. With the rapid increase in data connectivity within a modern automobile, the attack surface has been greatly broadened to allow adversaries remote access to vehicle control system software and networks. This has serious implications, as a vast number of vulnerability disclosures released by security researchers point directly to common programming bugs and software quality issues as the root cause of successful exploits which can compromise the vehicle as a whole. In this paper, we aim to bring to light the most prominent categories of bugs found during the software development life cycle of an automotive ECU. We employ
Edwards, Jesse, Kashani, Ameer
The Development of ECU-Integrated Electric Oil Pump for Powertrain2017-01-122903/28/2017
Electric oil pumps (EOP) for automobiles are used to lubricate and cool moving parts and supply oil pressure to components. Conventional EOPs consist of two separate units including a motor driver and a pump system comprised of a motor and a pump, which impedes layout flexibility for vehicles. To overcome this shortcoming, we have developed an ECU (electronic control unit)-integrated oil pump in which a driver, a motor and a pump are incorporated as a single unit. In the course of the project, we focused on improving vibration resistance and developing a compact design. The first challenge was to improve vibration resistance because of the driver located in close proximity to the powertrain. Since the driver is installed on the motor unit via electrically welded bus bars, the joints of the driver and the bus bar become susceptible to vibration. As a solution, the newly developed spring plate is inserted in the limited space between the bearing holder and the bus bar ring, which
Yamamoto, Ken, Sadakata, Nobuyasu, Okada, Hidetoshi, Fujita, Yusuke
Development of Electric Powertrain for New Model Hybrid Sports Utility Vehicle2017-01-115803/28/2017
An electric powertrain has been developed for Honda’s 2017 model hybrid SUV. The electric powertrain developed for the hybrid model consists of a Twin Motor Unit (TMU), a high-output front motor mated to a 7-speed DCT for efficient power generation, a Power Control Unit (PCU), and an Intelligent Power Unit (IPU). The TMU is made up of two motor units able to drive the left and right wheels independently, as employed in Honda’s flagship sedan and high-end sports cars. The PCU delivers electric power to the motors, and the IPU stores drive torque and regenerative energy. The high-output front motor and TMU are equipped with sports hybrid SH-AWD components, as used in existing mass-production models, in order to realize handling performance equaling that of the base SUV. Positioned under the floor outside the passenger cabin, the PCU has a newly developed 3-in-1 inverter, motor control ECU, and 12V DC-DC converter built-in, and is housed in a fully waterproof structure. The layout of
fukazu, Tomohiro, Matsuo, Yuhei
Virtual FMEA and Its Application to Software Verification of Electric Power Steering System2017-01-006603/28/2017
This paper presents the “Virtual Failure Mode and Effects Analysis (vFMEA)” system, which is a high-fidelity electrical-failure-simulation platform, and applies it to the software verification of an electric power steering (EPS) system. The vFMEA system enables engineers to dynamically inject a drift fault into a circuit model of the electronic control unit (ECU) of an EPS system, to analyze system-level failure effects, and to verify software-implemented safety mechanisms, which consequently reduces both cost and time of development. The vFMEA system can verify test cases that cannot be verified using an actual ECU and can improve test coverage as well. It consists of a cycle-accurate microcontroller model with mass-production software implemented in binary format, analog and digital circuit models, mechanical models, and a state-triggered fault-injection mechanism. In this paper, the vFMEA method was applied to the verification of the safety mechanisms implemented on an ECU of an EPS
Nakao, Shogo, Hyodo, Akihiko, Itabashi, Masaki, Sakashita, Tomio, Obara, Shingo, Uno, Tetsuya, Sugure, Yasuo, Fukano, Yoshinobu, Sasaki, Mitsuo, Miyazaki, Yoshihiro
Transient Thermal Model Evaluation for Semiconductor Devices in Automotive Applications2017-26-035001/10/2017
Automotive Electronic Control Unit (ECU) has semiconductor devices performing various time dependent functions. It is essential to understand the transient thermal behavior of these devices for designing a reliable system. Detailed thermal model (DTM) is the need of the hour to understand the characteristics by performing a transient system level simulation. The information to build DTM is not readily available in the public domain due to intellectual property protection from the device suppliers. To overcome this, the present work showcases the procedure to develop Transient Thermal Network Model (TTNM) using resistance and capacitance values extracted from the impedance curve provided by the semiconductor manufacturer. TTNM model is developed for a typical DPAK and D2PAK device and validated by comparing impedance curve derived from simulation with datasheet. Thermal characterization studies are also carried out to compare the behavior of the traditional lumped model and TTNM to that
Viswanathan, Swaminathan, Sridharan, Kesav Kumar
Side View Assist - The World’s First Rider Assistance System for Two-Wheelers2016-32-005211/08/2016
The Side View Assist is the World’s first rider assistance system for two-wheelers. This is a Blind Spot Warning system, which uses four ultrasonic sensors to monitor the surrounding of the rider. Whenever there is a vehicle (i.e. a car, truck, or another motorbike) in the rider’s blind spot, the technology warns the rider with an optical signal close to the mirror. This will allow the rider to avoid a collision when changing lanes. In the current vehicle application, Side View Assist is active at speeds ranging from 25 to 80 kilometers per hour and supports riders whenever the difference in relative speed to other road users is small. The system helps to improve safety especially in cities, where heavy traffic makes it necessary to change lanes more often. Originally such systems have been developed for cars and different system solutions for cars have been in serial production for several years. The challenge was to adapt these systems so they would work for two-wheelers as well
Schoenherr, Michael, Grelaud, Mathieu, Hirano, Ami
Items per page:
1 – 50 of 303