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2
Automotive und AUTOSAR
Fachgruppe Automotive Software Engineering (ASE) in der Gesellschaft für Informatik (GI)
AUTOSAR
Weiterführende Literatur
2
Automotive und AUTOSAR
Fachgruppe Automotive Software Engineering (ASE) in der Gesellschaft für Informatik (GI)
AUTOSAR
Weiterführende Literatur
4
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
52
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
62
AUTOSAR – Core Partners and Members
(Phase II)
7
Core Partners in Phase III
Core Partners
Organizational control
Technical contributions
Associate Members
Administrative control
Access to finalized documents
Definition of external Information
Utilization of AUTOSAR standard
(web-release, clearance, etc.)
Leadership of Working Groups Development Members
(for small companies with specific
Involvement in Working Groups
expertise)
Utilization of AUTOSAR standard
Technical contributions
Premium Members Access to current information
Leadership of Working Groups
Utilization of AUTOSAR standard
Involvement in Working Groups
Attendee (e.g. Universities)
Technical contributions
Support Role
Access to current information
9
AUTOSAR Phase III Organization
Core Partner
Steering
Administration Commitee
General
Technical Communica- Follow-up Team
Manager Legal Team
Steering Team tionTeam
… … … …
Release Manager
Technical Office
10
Initial WP structure Phase III
Work Packages
Existence of
1 2 3 10 Work Packages
System
Software and
Application will depend on
Test Validation
Architecture
Specification
Interfaces sufficient
1.1 2.1 WP-3.1 WP-10.0
participation
Software Basic Software Coordination of
Architecture Basic Software Validation Appl. Interfaces
MM / T / HMI
11
Initial WP structure Phase III
Work Packages
Existence of
1 2 3 10 Work Packages
System
Software and
Application will depend on
Test Validation
Architecture
Specification
Interfaces sufficient
1.1 2.1 WP-3.1 WP-10.0
participation
Software Basic Software Coordination of
Architecture Basic Software Validation Appl. Interfaces
MM / T / HMI
12
Initial WP structure Phase III
Work Packages
Existence of
1 2 3 10 Work Packages
System
Software and
Application will depend on
Test Validation
Architecture
Specification
Interfaces sufficient
1.1 2.1 WP-3.1 WP-10.0
participation
Software Basic Software Coordination of
Architecture Basic Software Validation Appl. Interfaces
MM / T / HMI
13
What Daimler expects from AUTOSAR
Source: AUTOSAR PM Conference 02-2008 / AUTOSAR - a key enabler for comprehensive E/E standardization / S. Wolfsried, Daimler AG
14
Preconditions for the introduction of AUTOSAR
Introduction of a standard depends on its maturity and the benefits of its Geplante
AUTOSAR-Anwendungen: Daimlers assessment is positive for AUTOSAR 3.0.
Remaining issues:
Conformance tests are essential for guaranteeing AUTOSAR’s integrity as a standard.
Source: AUTOSAR PM Conference 02-2008 / AUTOSAR - a key enabler for comprehensive E/E standardization / S. Wolfsried, Daimler AG
15
Technical scope of AUTOSAR
Methodology
Diagnostics Gateway
Industry-wide OS Kernel
consolidation of ECU
Abstraction
Bus systems
16
Technical scope of AUTOSAR
Methodology
Diagnostics Gateway
Industry-wide OS Kernel
consolidation of ECU
Abstraction
Bus systems
17
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
2
18
AUTOSAR Architekturkonzept
19
AUTOSAR-Schichtenmodell
Abstraktionsschichten der Steuergerätesoftware
Basissoftware (BSW)
20
AUTOSAR-Schichtenmodell
Anwendungsschicht (Application Layer)
Basissoftware (BSW)
21
AUTOSAR-Schichtenmodell
Laufzeitumgebung (Runtime Environment, RTE)
Basissoftware (BSW)
22
AUTOSAR-Schichtenmodell
BSW - Service Layer
Basissoftware (BSW)
23
AUTOSAR-Schichtenmodell
BSW - ECU Abstraction Layer
Der ECU Abstraction Layer bietet einen einheitlichen Zugriff auf alle
Funktionalitäten eines Steuergeräts wie Kommunikation, Speicher oder E/A.
Ziel: Unabhängigkeit der höheren Schichten von der Steuergeräte-Hardware
Basissoftware (BSW)
24
AUTOSAR-Schichtenmodell
BSW - Microcontroller Abstraction Layer
Basissoftware (BSW)
25
AUTOSAR-Schichtenmodell
BSW - Complex Drivers
Die Complex Drivers enthalten die in AUTOSAR nicht standardisierten Treiber für
die spezifischen Eigenschaften eines Mikrocontrollers oder Steuergeräts.
Beispiele: Sensorauswertung, direkter Zugriff auf Mikrocontroller
Basissoftware (BSW)
26
AUTOSAR Basis Software Module
Watchdog Manager
Development Error
SM
Function Inhibition
AUTOSAR Diagnostic
Diagnostic Event
Communication
Manager FIM
Manager DEM
COM Com.
I/O Hardware
Manager
Manager
Tracer
LIN Abstraction
FlexRay NM
NVRAM
Manager SM
PDU Router CAN NM
IPDU
Multi- FR
LIN CAN FlexRay
plexer SM
TP TP TP
Watchdog Interface
EEPROM Flash EEPROM
CAN transc
BSW Scheduler
FR transc
Abstraction Emulation
Ext. CAN
Ext. FR
Driver
Driver
Driver
Driver
External
Watchdog Ext.
Driver EEPROM Ext. Flash
Driver Driver
LIN Communication
SPI Handler Driver
internal EEPROM
Watchdog Driver
Flash Check
PORT Driver
PWM Driver
MCU Driver
ADC Driver
GPT Driver
CAN Driver
DIO Driver
ICU Driver
RAM Test
LIN Driver
FR Driver
Driver
Stack
Clock Unit
EEPROM
e.g. CCU
e.g. PCP
e.g. TPU
Ext. BUS
Power &
FlexRay
FLASH
CCU
PWM
WDT
MCU
CAN
ADC
GPT
DIO
SCI
SPI
LIN
Microcontroller µC
20
27
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
2
28
Systementwicklung
AUTOSAR Software Komponenten (SWC)
Grundsätzlicher Design-Ansatz:
Trennung zwischen Steuergerät (Infrastruktur) und Anwendung (Funktionalität)
Eine Anwendung besteht aus miteinander verbundenen Software Komponenten
Die Software Komponenten sind atomar, d.h. sie können nicht über mehrere
Steuergeräte verteilt werden.
Die Implementierung der Software Komponenten ist unabhängig vom
Steuergerät.
Methodik
Beispiele
29
Systementwicklung
30
Systementwicklung
31
Systementwicklung
Formale Definition der Schnittstellen
Sender/Empfänger-Ports
Client/Server-Ports
32
Systementwicklung
Sender/Empfänger-Ports
33 Quelle: http://www.autosar.org
Systementwicklung
Client/Server-Ports
The client initiates the communication, requesting that the server performs a
service, transferring a parameter set if necessary. The server waits for incoming
communication requests from a client, performs the requested service, and
dispatches a response to the client‘s request.
The client can be blocked (synchronous communication) or non-blocked
(asynchronous communication), respectively, after the service request is initiated
until the response of the server is received.
34 Quelle: http://www.autosar.org
Beispiel
35
!"#$%!&'%()*+,-.'!-/01*./*2-. 34
Systementwicklung
Virtual Function Bus (VFB)
Während der Systementwurfsphase werden die SWCs auf Basis des Virtual
Function Bus (VFB) logisch integriert
36
Systementwicklung
System Description
37
Systementwicklung
AUTOSAR-Methode (1)
Beschreibt Abläufe von der Systemkonfiguration zur Generierung von Code für
Steuergeräte
38
Systementwicklung
AUTOSAR-Methode (2)
39
Systementwicklung
AUTOSAR-Methode (3)
40
Systementwicklung
AUTOSAR-Methode (4)
41
Integration ins Fahrzeug
Steuergeräte
Bussysteme
42
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
2
43
Bussysteme im KFZ - Überblick
Quelle: Vector Informatik GmbH
44
CAN Lowspeed Bus
45
CAN Highspeed Bus
46
Protokolle und Bussysteme:
CAN (Controller Area Network)
http://www.can-cia.org/
47
LIN Local Interconnect Network
48
Protokolle und Bussysteme:
LIN (Local Interconnect Bus)
Backupleitungen
Diagnoseschnittstellen
http://www.lin-subbus.org/
49
MOST
50
Protokolle und Bussysteme:
MOST (Media Orientated System Transport)
http://www.mostcooperation.com/home/index.html
51
FlexRay
52
Protokolle und Bussysteme:
FlexRay
http://www.flexray.com/
53
AUTOSAR Basis Software Module
Watchdog Manager
Development Error
SM
Function Inhibition
AUTOSAR Diagnostic
Diagnostic Event
Communication
Manager FIM
Manager DEM
COM Com.
I/O Hardware
Manager
Manager
Tracer
LIN Abstraction
FlexRay NM
NVRAM
Manager SM
PDU Router CAN NM
IPDU
Multi- FR
LIN CAN FlexRay
plexer SM
TP TP TP
Watchdog Interface
EEPROM Flash EEPROM
CAN transc
BSW Scheduler
FR transc
Abstraction Emulation
Ext. CAN
Ext. FR
Driver
Driver
Driver
Driver
External
Watchdog Ext.
Driver EEPROM Ext. Flash
Driver Driver
LIN Communication
SPI Handler Driver
internal EEPROM
Watchdog Driver
Flash Check
PORT Driver
PWM Driver
MCU Driver
ADC Driver
GPT Driver
CAN Driver
DIO Driver
ICU Driver
RAM Test
LIN Driver
FR Driver
Driver
Stack
Clock Unit
EEPROM
e.g. CCU
e.g. PCP
e.g. TPU
Ext. BUS
Power &
FlexRay
FLASH
CCU
PWM
WDT
MCU
CAN
ADC
GPT
DIO
SCI
SPI
LIN
Microcontroller µC
20
54
AUTOSAR Basis Software Module
Watchdog Manager
Development Error
SM
Function Inhibition
AUTOSAR Diagnostic
Diagnostic Event
Communication
Manager FIM
Manager DEM
COM Com.
I/O Hardware
Manager
Manager
Tracer
LIN Abstraction
FlexRay NM
NVRAM
Manager SM
PDU Router CAN NM
IPDU
Multi- FR
LIN CAN FlexRay
plexer SM
TP TP TP
Watchdog Interface
EEPROM Flash EEPROM
CAN transc
BSW Scheduler
FR transc
Abstraction Emulation
Ext. CAN
Ext. FR
Driver
Driver
Driver
Driver
External
Watchdog Ext.
Driver EEPROM Ext. Flash
Driver Driver
LIN Communication
SPI Handler Driver
internal EEPROM
Watchdog Driver
Flash Check
PORT Driver
PWM Driver
MCU Driver
ADC Driver
GPT Driver
CAN Driver
DIO Driver
ICU Driver
RAM Test
LIN Driver
FR Driver
Driver
Stack
Clock Unit
EEPROM
e.g. CCU
e.g. PCP
e.g. TPU
Ext. BUS
Power &
FlexRay
FLASH
CCU
PWM
WDT
MCU
CAN
ADC
GPT
DIO
SCI
SPI
LIN
Microcontroller µC
20
55
AUTOSAR Basis Software Module
Watchdog Manager
Development Error
SM
Function Inhibition
AUTOSAR Diagnostic
Diagnostic Event
Communication
Manager FIM
Manager DEM
COM Com.
I/O Hardware
Manager
Manager
Tracer
LIN Abstraction
FlexRay NM
NVRAM
Manager SM
PDU Router CAN NM
IPDU
Multi- FR
LIN CAN FlexRay
plexer SM
TP TP TP
Watchdog Interface
EEPROM Flash EEPROM
CAN transc
BSW Scheduler
FR transc
Abstraction Emulation
Ext. CAN
Ext. FR
Driver
Driver
Driver
Driver
External
Watchdog Ext.
Driver EEPROM Ext. Flash
Driver Driver
LIN Communication
SPI Handler Driver
internal EEPROM
Watchdog Driver
Flash Check
PORT Driver
PWM Driver
MCU Driver
ADC Driver
GPT Driver
CAN Driver
DIO Driver
ICU Driver
RAM Test
LIN Driver
FR Driver
Driver
Stack
Clock Unit
EEPROM
e.g. CCU
e.g. PCP
e.g. TPU
Ext. BUS
Power &
FlexRay
FLASH
CCU
PWM
WDT
MCU
CAN
ADC
GPT
DIO
SCI
SPI
LIN
Microcontroller µC
IP
20
56
Protokolle und Bussysteme:
Beispiele
Innenraum-CAN
Display-CAN
57
Protokolle und Bussysteme:
Beispiele
Gateways
ZGM (byteflight, K-CAN, PT-CAN, Diagnose)
58
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
2
59
Systementwurf
60
Systementwurf
61
Systementwicklung
62
Systementwicklung
63
Systementwicklung
64
Logische Kommunikation über RTE
nd Inter-ECU Communication
Innerhalb eines Steuergerätes
Zwischen
s implement the interface accordingSteuergeräten über Kommunikationsbus
e communication paradigm (here
t-server based).
s are the interaction ECU I ECU II
s of a component. Appli-
cation
Appli-
cation
Appli-
cation
Application
communication is SW-C
A
SW-C
B
SW-C
C
neled via the RTE.
communication layer
Ports
e basic software is
psulated and not RTE VFB RTE
le at the application AUTOSAR
. Infrastructure
BSW BSW
Hardware
Sensor
Communication Bus
Communication Path
65
Logische Kommunikation über RTE
nd Inter-ECU Communication
Innerhalb eines Steuergerätes
Zwischen
s implement the interface accordingSteuergeräten über Kommunikationsbus
e communication paradigm (here
t-server based).
s are the interaction ECU I ECU II
s of a component. Appli-
cation
Appli-
cation
Appli-
cation
Application
communication is SW-C
A
SW-C
B
SW-C
C
neled via the RTE.
communication layer
Ports
e basic software is
psulated and not RTE VFB RTE
le at the application AUTOSAR
. Infrastructure
BSW BSW
Hardware
Sensor
Communication Bus
Communication Path
66
Logische Kommunikation über RTE
nd Inter-ECU Communication
Innerhalb eines Steuergerätes
Zwischen
s implement the interface accordingSteuergeräten über Kommunikationsbus
e communication paradigm (here
t-server based).
s are the interaction ECU I ECU II
s of a component. Appli-
cation
Appli-
cation
Appli-
cation
Application
communication is SW-C
A
SW-C
B
SW-C
C
neled via the RTE.
communication layer
Ports
e basic software is
psulated and not RTE VFB RTE
le at the application AUTOSAR
. Infrastructure
BSW BSW
Hardware
Sensor
Communication Bus
Communication Path
67
AUTOSAR SW-Architektur
AUTOSAR Interface
Standardized AUTOSAR Interface
Standardized Interface
68
AUTOSAR SW-Architektur
AUTOSAR Interface
Standardized AUTOSAR Interface
Standardized Interface
69
AUTOSAR SW-Architektur
AUTOSAR Interface
Standardized AUTOSAR Interface
Standardized Interface
70
AUTOSAR SW-Architektur
AUTOSAR Interface
Standardized AUTOSAR Interface
Standardized Interface
71
AUTOSAR SW-Architektur
AUTOSAR Interface
Generische Schnittstelle, abgeleitet aus den Ports einer SWC.
Standardized Interface
Im AUTOSAR-Standard als C-API vordefiniert
72
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
2
73
Use Cases of AUTOSAR Results
! Exchange of SW-Components
! Re-use of SW components for different platforms
74
Use Case ‘Pedal Management’ view for one ECU
void distribute_v(void)
{
… distribute_v()
Rte_Write_p_v(rte_i, v)
…
}
void v_warn(void)
{
…
Rte_Read_p_v(rte_i, v)
…
}
75
Use Case ‘Pedal Management’ view for two ECUs
distribute_v()
76
Systementwicklung
AUTOSAR-Methode
unverändert
neu
77
Scheinwerfersteuerung
Complex
Operating Hardware Device
System Drivers
Standardized Interface
DIO PWM CAN Driver
Microcontroller Abstraction
10
78
Austausch Schweinwerfer gegen Xenon-Scheinwerfer
Standardized
Std. Interface Std. Interface Std. Interface
Drivers
Interface
Complex
Operating Hardware Device
System Drivers
Standardized Interface
DIO PWM
DIO CAN Driver
Microcontroller Abstraction
11
79
Systementwicklung
AUTOSAR-Methode
neu
unverändert
80
Verteilung auf drei Steuergeräte
CAN Bus
13
81
Systementwicklung
AUTOSAR-Methode
unverändert
neu
82
83
Xenon-Scheinwerfer
86
Systementwicklung
AUTOSAR-Methode
neu
neu
neu
87
Systementwicklung
AUTOSAR-Methode
88
Systementwicklung
AUTOSAR-Methode
unverändert
89
Systementwicklung
AUTOSAR-Methode
unverändert
90
Systementwicklung
AUTOSAR-Methode
unverändert
91
Systementwicklung
AUTOSAR-Methode
unverändert
unverändert
unverändert
92
Soweit zur Theorie, in der Praxis
93
Unterschiedliche Interessen
Automobilhersteller
Wiederverwendung
Zulieferer
Wiederverwendung
Keine Austauschbarkeit
Werkzeughersteller, BSW-Anbieter
Keine Austauschbarkeit
Halbleiterhersteller
Ein MCAL für alle BSW unabhängig vom BSW-Anbieter
94
CUBAS
12
AUTOSAR Consulting
Provided by customers
of XYZ
Microcontroller
abstraction layer to be
developped
Microcontrollers by
XYZ
66
Artop – AUTOSAR Tool Platform
*'+,-$. */)01*2$),,3$43&+5,'67
!"#$%!&'#(()'
*)+,-(./
012'3+.'4#
*'+,-7
!"#$%&'()*+,-.&-
/,0&12&-(3445
!"#$%&'$()
97
AUTOSAR
Organisation
Schichtenmodell
Systementwicklung
Bussysteme im KFZ
Software-Architektur
Anwendungsbeispiele
Geplante AUTOSAR-Anwendungen
2
98
Initial WP structure Phase III
Work Packages
Existence of
1 2 3 10 Work Packages
System
Software and
Application will depend on
Test Validation
Architecture
Specification
Interfaces sufficient
1.1 2.1 WP-3.1 WP-10.0
participation
Software Basic Software Coordination of
Architecture Basic Software Validation Appl. Interfaces
MM / T / HMI
99
AUTOSAR Application Interfaces
Compositions under Consideration
100
AUTOSAR Application Interfaces
Compositions under Consideration
101
AUTOSAR Basis Software Module
Watchdog Manager
Development Error
SM
Function Inhibition
AUTOSAR Diagnostic
Diagnostic Event
Communication
Manager FIM
Manager DEM
COM Com.
I/O Hardware
Manager
Manager
Tracer
LIN Abstraction
FlexRay NM
NVRAM
Manager SM
PDU Router CAN NM
IPDU
Multi- FR
LIN CAN FlexRay
plexer SM
TP TP TP
Watchdog Interface
EEPROM Flash EEPROM
CAN transc
BSW Scheduler
FR transc
Abstraction Emulation
Ext. CAN
Ext. FR
Driver
Driver
Driver
Driver
External
Watchdog Ext.
Driver EEPROM Ext. Flash
Driver Driver
LIN Communication
SPI Handler Driver
internal EEPROM
Watchdog Driver
Flash Check
PORT Driver
PWM Driver
MCU Driver
ADC Driver
GPT Driver
CAN Driver
DIO Driver
ICU Driver
RAM Test
LIN Driver
FR Driver
Driver
Stack
Clock Unit
EEPROM
e.g. CCU
e.g. PCP
e.g. TPU
Ext. BUS
Power &
FlexRay
FLASH
CCU
PWM
WDT
MCU
CAN
ADC
GPT
DIO
SCI
SPI
LIN
Microcontroller µC
IP
20