Intelligent Vehicle Technologies

&
Embedded protocols
O.M. Saravanakumar
Asst.Professor, Dept. of.ECS
SKASC

Intelligent Vehicle Technologies

Smart cars

Vehicle
Technology
Driverless
cars

Connected
cars

ECS

Information Transfer in ITSs

In-vehicle systems
Vehicle-to-vehicle systems

Vehicle-to-infrastructure systems

ECS

Sensors used in automobile

ECS

Sensors are the essential elements in any control

system and this is particularly true for road vehicles
It is introduced for assistance to the driver.
Ultrasound sensors provide the opportunity to
assist low-speed maneuvers such as parking.
Cameras and lasers provide sufficient range for city
driving assistance.
RADARs are usually used for detecting vehicles
ahead while driving at high speed.

Ultrasonic sensors

ECS

These simple and cheap active sensors emit a

cone-shaped ultrasonic wave through the
electric actuation of an electrostatic or
piezoelectric transducer and receive the waves
echo through symmetrical transduction.

Constructional view of Ultrasonic sensors

ECS

Working principles of Ultrasonic sensors

ECS

The sensor emits a short ultrasonic burst and then

"listens" for the echo.
Under control of a host microcontroller (trigger
pulse), the sensor emits a short 40 kHz (ultrasonic)
burst.
This burst travels through the air at about 1130
feet per second, hits an object and then bounces
back to the sensor.
The PING sensor provides an output pulse to the
host that will terminate when the echo is detected,
hence the width of this pulse corresponds to the
distance to the target.

Working principles of Ultrasonic sensors

ECS

Working principles of Ultrasonic sensors

ECS

Ultrasonic sensors

ECS

Ultrasonic sensors
and its Range

ECS

Ultrasonic sensors
and its Range

ECS

Sensors and its Range

ECS

Inertial sensor
INS = Inertial Navigation System
IMU = Inertial Measurement Unit
Gyros and acceleration sensors

Based on conservation of momentum/inertia

or changes of the path length (optical gyros)
No external support needed, work everywhere
under the known physical laws

ECS

DoF - (Degree of Freedom)

ECS

DoF - (Degree of Freedom)

ECS

Full inertial measurement unit is comprised of six

sensors allowing measurement over the six degrees
of freedom (DoF) of a vehicle.
Namely three orientations (roll, pitch, and yaw)
and three accelerations.
DoF estimation needed for localization issues can
be reduced to angular rotation around the vertical
axis (yaw) and longitudinal acceleration
measurements.
It is sufficient to reconstitute an approximation of the
vehicles path.

Gyroscope
Principles of Operation
Two primary types
Mechanical
Optical

Measure rotation
w.r.t. an inertial
frame which is fixed
to the stars (not
fixed w.r.t. the
Earth).

ECS

Gyroscope
Principles of Operation

ECS

Gyroscope
Principles of Operation

ECS

Accelerometer

ECS

Accelerometer

ECS

LIDAR

ECS

Light Detection and Ranging or Laser Detection and Ranging

LIDAR

ECS

Light Detection and Ranging or Laser Detection and Ranging

LIDAR

ECS

Light Detection and Ranging or Laser Detection and Ranging

With a fixed sinusoidal frequency f and if there is an

object at distance d, a phase shift of
= 2 f (2d/c)
will be observed between the transmitted signal and
the received signal with c representing light speed.
An estimation of the objects distance is given by
d = c/4 f .

RADAR

ECS

RAdio Detection And Ranging

Radio detection and ranging (RADAR) is an active sensor
that sends a high frequency electromagnetic wave and
immediately receives its echo in turn, which is processed
so that the range, azimuth, and velocity of the obstacle are
determined

RADAR
RAdio Detection And Ranging

ECS

RADAR
RAdio Detection And Ranging

ECS

RADAR

ECS

ECS

Vision sensor

ECS

Vision sensor

ECS

Vision sensor

ECS

Vision sensors offer a 2D array of up to a million

pixels with a wide field of vision, the angular
field of vision depending upon the optics.

(CMOS) imagers tend to present more

advantages than charge-coupled device (CCD),
since they have a wider (nonlinear) luminance
range, lower power consumption and cost, and
individual pixel-processing facilities

Vision sensor

ECS

Vision sensor

ECS

Vision sensor

ECS

Vision sensor

ECS

Vision sensor in 2020

ECS

Sensors capability

ECS

GPS-Global positioning systems

ECS

GPS-Global positioning systems

ECS

The global positioning system (GPS) is a system launched in

1980 by the Department of Defence of the United States.
It provides information on time, position, and velocity at
any location on the planet
P1,P2,P3 that are positions

transmitted by the satellites,

and the estimated
pseudo ranges r1, r2, r3,
obtained from the signals
traveling time.

GPS-Global positioning systems

ECS

GPS-Global positioning systems

ECS

GPS-Global positioning systems

A constellation of
- 24 satellites
- spaced at 20,200km altitude,
- in circular 12 h orbits,
- and inclined 55 to the equatorial plane,
- transmit two microwave carriers,
- with 1222.60 and 1575.42 MHz frequencies,

to provide at a reasonable cost an Earth-wide coverage.

ECS

GNSS-Global Navigation satellite systems

ECS

GNSS-Global Navigation satellite systems

ECS

GNSS-Global Navigation satellite systems

ECS

In vehicle Networks

MOST Media oriented system transport

ECS

CAN Protocols

ECS

Controller Area Network or CAN protocol is a method of

communication between various electronic devices like

engine management systems, active suspension, ABS,

gear control, lighting control, air conditioning, airbags,
central locking etc embedded in an automobile.
It was designed by Bosch in the mid-1980s for
multiplexing communication between ECUs in vehicles.
It decreasing the overall wire harness: length of wires
and number of dedicated wires

CAN Protocols

ECS

CAN on a twisted pair of copper wires used in

automotive applications, due to its low cost, robustness,

and bounded communication delays

CAN provide a mechanism which is incorporated in the
hardware and the software by which different electronic
modules can communicate with each other using a
common cable.
This in turn reduced the wiring connections to a great
extend thereby reducing the bulkiness and complexity of
the system.

CAN Protocols

ECS

CAN Protocols

DLC- data link control

CRC cyclic redundancy check

ECS

CAN Protocols

ECS

CAN Protocols

ECS

CAN Protocols Domains in AE

ECS

VAN Protocols

ECS

The Vehicle Area Network (VAN) is a vehicle

bus developed by PSA Peugeot Citron and Renault.
It is a serial protocol capable of speeds up to 125 kbit/s
and is standardized in ISO 11519-3.
Vehicle area network (VAN) is very similar to CAN (e.g.,
frame format, data rate) but possesses some additional or
different features that are advantageous from a technical

point of view (e.g., no need for bit-stuffing, in-frame

response)

VAN Protocols

SOF- Starting of Frame

FCS- Frame check sequence
EOD- End of Data
EOF- End of Frame

ECS

TT Networks (Time-Event Triggered)

ECS

In this category,
multi-access
protocols based
on TDMA are
particularly well
suited; they
provide
deterministic
access to the
medium.

TT networks where activities are driven by the progress of

time and event-triggered networks where activities are
driven by the occurrence of events.

FlexRay Protocols
FlexRay protocol has been released in 2004, the current
version of the specification

ECS

FlexRay Protocols

ECS

FlexRay

ECS

The TT window uses a TDMA MAC protocol

In the event-triggered part of the communication cycle, the protocol is
flexible TDMA (FTDMA): the time is divided into so-called mini slots

60

FlexRay Protocols

ECS

The FlexRay frame consists of three parts:

- Header-5 bytes includes the identifier of the

frame and the length of the data payload

- Payload segment -up to 254 bytes of data
- CRC of 24 bits.

FlexRay Protocols

ECS

The FlexRay network is very flexible with regard to

topology and transmission support redundancy.
It can be configured as a bus, a star, or a multi star

CAN vs. FlexRay

FlexRay
- Capable of 10 Mbps
communication
- Time-triggered and
event-triggered
communication
- Reliable
- Clock
Synchronization
- Clique Detection
- Bus Guardian

ECS

CAN
-

Max 1 Mbps;
Protocol overhead of
> 40%;
Contention resolved
by priority.
Acknowledgment
and retransmission
when message is
corrupted

DATE 2009

63

TTCAN protocol

ECS

TTCAN is a communication protocol developed by

Robert Bosch GmbH on top of the CAN physical and DLL.
TTCAN uses the CAN standard.

TTCAN protocol

ECS

The bus topology of the network, the characteristics of the transmission

support, the frame format, as well as the maximum data rate, 1 Mbps,

are imposed by the CAN protocol.

TTCAN defines a basic cycle (the equivalent of the FlexRay
communication cycle) as the concatenation of one or several TT (or
exclusive) windows and one event-triggered (or arbitrating) window.
Exclusive windows are devoted to TT transmissions

TTCAN protocol

ECS

The period between

two consecutive
reference messages is
called the basic cycle

A basic cycle consists of

several time windows of
different size and
offers the necessary
space for the
messages to be
transmitted

LIN Protocols

ECS

Comparison of Protocols

ECS

AUTOSAR Architecture

ECS

AUTOSAR Project Objectives

ECS

AUTOSAR Main working topics

ECS

AUTOSAR Architecture

ECS

AUTOSAR (AUTomotive Open Standard ARchitecture)

it specifies the software architecture embedded in an ECU.
More precisely, it provides a reference model that is
Comprised of three main parts:
- Application layer
- Basic software (MWsoftware components)
- Runtime environment (RTE)

that provides standardized software interfaces to the

application software

AUTOSAR Architecture

ECS

AUTOSAR Architecture

ECS

RTE

Run tine environment

VFB
Virtual function Bus
BSW
Basic software

Intra & Inter ECU Communication

ECS

AUTOSAR Managing capability

OEM- Original Equipment Manufacturer

ECS

AUTOSAR Distribution of ECUs

ECS

Automotive Software
Development will change

ECS

AUTOSAR core partners

ECS