Intelligentes Fahrzeugkonzept auf Basis Drive-by-Wire

- Umsetzungsschritte in den EU-Projekten PEIT und SPARC

Dr.-Ing. Gernot Spiegelberg, Dr. Ansgar Maisch, Dr. Armin Sulzmann DaimlerChrysler Powersystems Der Verkehrsfluß auf europäischen Straßen nimmt ständig zu. Hierdurch würde die Unfallwahrscheinlichkeit stetig wachsen und die Verkehrssicherheit sinken, wenn nicht gemeinsam von Seiten Gesetzgeber, Gremien, Fahrzeugherstellern und Zulieferern sowie den für die Infrastruktur zuständigen Bereichen gegengesteuert würde. Speziell auf die Fahrzeugindustrie bezogen wurden Systemverbesserungen zur Steigerung der passiven als auch zunehmend der aktiven Sicherheit eingeführt. Dennoch liegen die Zahlen der Verletzten und Toten auf unseren Straßen unakzeptabel hoch. Für 2010 wurde daher das Ziel anvisiert, die Unfallzahlen zu halbieren, weitere Assistenzsysteme einzuführen und den Fahrer zu unterstützen. Die Zeit ist nicht lang, die Komplexität der Systeme nimmt weiter zu, deren Integration erfordert wachsenden Aufwand an Zeit, aber auch an Kosten, wenn nicht die Qualität negativ beeinflußt werden soll. Es wird daher vermehrt die Bereitstellung von Konzepten notwendig, die es den gemeinsam entwickelnden Bereichen aus Fahrzeugherstellern und Zulieferern erlaubt, über modular angelegte Schnittstellen und Interfaces sowohl am Produkt selbst, als auch mit den Tools arbeiten zu können. Vereinheitlichung dieser Tools und Prozesse zum einen, aber auch ein gemeinsames, visionäres Bild des Gesamtzieles ist erforderlich. Die bisherigen Technologien sind weitgehend ausgeschöpft. Innovationen für Zukunftskonzepte gewinnen wieder an Bedeutung und damit die Suche nach neuen Wegen. Hier scheint uns das Gebiet der Mechatronik fast zum richtigen Zeitpunkt neue Möglichkeiten zu bieten. Seit September 2001 wird daher in dem europäisch geförderten Projekt PEIT – Powertrain equipped with intelligent Technology – in Zusammenarbeit von Lieferanten, Zulassungsbehörden, dem Kraftfahrtbundesamt und DaimlerChrysler ein Konzept erarbeitet.. Ziel ist die Darstellung eines Plattformkonzepts zur einfachen Applikation und Integration von Assistenzsystemen über eine genormte Schnittstelle. Sowohl der Homologationsprozess als auch die notwendigen Tools werden betrachtet. Und nicht zuletzt ist die Gesellschaft, der Kunde und der Gesetzgeber über Öffentlichkeitsarbeit in den Veränderungsprozeß hin zu mechatronischen Lösungen und deren Akzeptanz einzubinden. In dem nun erweiterten Ansatz, das Drive-by-Wire Plattformkonzept in das Fahrzeug zu integrieren und mit den Assistenzsystemen konsequent zu verbinden, enstand das ab 1/2004 laufende, ebenfalls europäisch geförderte Projekt SPARC – Secure Propulsion with Advanced Redundant Control. In diesem Projekt wird die Anbindung von PEIT an die drei europäischen Projekte PREVENT – Summe aller Assistenzsystemfunktionen, AIDE – Summe aller HMI-Funktionen und EASIS – Konzept einer zukünftigen Systemarchitektur, betrieben. So könnte auf der Grundlage etablierter und bewährter Technologien, auch durch vermehrte Anwendung der Sensorik und Informatik, über Umfelderkennung und Fahrstrategiebildung ein weiterer Schritt in Richtung Verkehrssicherheit eingeleitet werden.

IntelligentIntelligent vehicle concept based onvehicle concept based on

„„DriveDrive--byby--WireWire““-- presentationpresentation ofof EU- EU-projectsprojects PEIT PEIT andand SPARCSPARC

PEIT - Powertrain Equipped with Intelligent Technology

SPARC - Secure Propulsion with Advanced Redundant Control

Symposium „Active Safety with Driver Assistant Systems“

Garching nearby München

11. and 12.th of March 2004

Dr.-Ing. G. Spiegelberg

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Accident report

In Germany alone about 60.000 people / year are injured or loselife in accidentsThe most dangerous accident classes with heavy good vehiclesinvolved are:

- jack knifings,- trailer oscillations- roll overs- lane departures

� 40 % preventable with an warning system

60 000 injured/killed people per year

� 60 % preventable with an controlling system

Goal : decreasing the numbers of accidents by 50 % until 2010

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coordination of motion execution

redundant surround.evaluation

biomechanical execution

load

primary surroundingevaluation

transportation ofmotion wish

road condition

see

hear

feel

inertia motion

limp home function

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coordination of motion execution

redundant surround.evaluation

biomechanical execution

load

primary surroundingevaluation

transportation ofmotion wish

preventive level

of motion

executing level

of motion

interface

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Modul

minimized Data-flow via interfaces/ module frame

module

maximized functionality

single responsible frame of module

minimizing of complexity

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coordination level

axles-

electronics

axles-

electronics

steering-

electronics

engine-

electronicstransmission

electronics

real motion

fuel

energy

motion vector

Assistant functions (e.c. backward driving)camera

Command

Execution

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www.eu-peit.net

An european project financed by the european

commission in the 5.th frameprogram

Running from September 2001 until September 2004

owertrain

quipped

ntelligent

echnologies

with

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Improve

• overall traffic safety

• traffic efficiency for heavy goods vehicles

• accident prevention

by the integration of intelligent technologies

into a powertrain.

Motivation

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Centrally co-ordinated secure Drive-by-Wire platform

Show European Homologation path of PEIT approach

An overall improvement in safety with a fullyelectronically controlled powertrain.

This is achieved by integrating:

General Objectives

New kind of Assistant Systems ESP with steering control

Interface for easiest application of assistant systems

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• DaimlerChrysler AG

• Continental

• iQ-Battery

• Knorr Bremse

• IVECO

• Diehl Avionik

• Kraftfahrt-Bundesamt

• Universität Budapest

• Universität Karlsruhe

• Technische Universität Braunschweig

• TÜV-Nord

• RW-TÜV

• TÜV-Süd

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Steer-by-WireBrake-by-Wire

µ-valueroad-friction detection ESP III

electrical energy management

Central Architecture

PTC

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Brake-by-Wire

2-electronic-circuit-architecture

new hardware structure and

safety management philosophy

meets the specific requirements

of intelligent traffic applications

in case of one failed brake circuit

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Brake-by-Wire

installation in HIL-testbench is finished

installation in prototype is finished

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Steer-by-Wire(essential for ESP with steering control )

2-electronic-circuit-architecture

new hardware structure and safety

management philosophy

the steering system intervenes to

improve the vehicle dynamics

(e.g. in the dead zone of former ESP or during braking on µ-split

surface)

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Vehicle power

Vehicle power

� Power supply

� System-Data-Bus

� Sensor connection

� Hydraulic circuit 1

�Hydraulic circuit 2

IES-

CAN

ReservoirECU

Force feedback actuator

Redundancy batteries

Pump

Steering actuator

Pump

Steer-by-Wire

© M

erc

ed

es

-Be

nz L

en

ku

ng

en

Gm

bH

Steer-by-Wire(essential for ESP with steering control )

installation in HIL-testbench is running

installation in prototype is finished

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ESP III(ESP with steering control)

next generation of a reactive assistant system

control of steering, braking and engine functions

possible due to the central architecture of PEIT

increase of safety level

reduction of braking distance increase of vehicle stability in critical situations

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ESP III(ESP with steering control)

testing is now running

development of algorithms is nearly finished

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Powertrain Controller

PTC

Visual information

Acousticalinformation

engine axle steeringtransmission energy storage

coordinated, optimised movement-specification

Movementdemand,Status signal

PTC - Powertrain ControllerESP III - Electronic Stabilisation Program

ESP IIIESP III

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Homologation aspect

Defining of an European Homologation path for

* New kind of Powertrain Architecture

* Drive by Wire technologies

* Driver Assistant Systems

This is already done with date of 6.6.2003 in Stuttgart

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lateral dynam. vertical dynamics

longitudinal dynamics concept of

mobility

grounded

flying

avionics

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coordinating

transm.functions

coordinating

Achsenfunktionen

coordinating

Lenkungsfunktion

System management

coordinating

engine functions

input level

assistant applications

2

2

2

input level

assistant applications1

coordinating

transm.functions

coordinating

axle functions

coordinating

steering functions

System management

coordinating

engine functions

1

engine

mechatronicalengine

functions

steering

mechatronicalsteeringfunctions

transm.

mechatronicaltransmis.

functions

front axle

mechatronicalaxle

functions

rear axle

mechatronicalaxle

functions

1

22 / 36

motionvector

transmission

Com2 / U2

Com1 / U1

front axle

rear axle

engine

steering

input

23 / 36

24 / 36

25 / 36

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Motion vector

X-by-Wire Powertrain

Driver

motion

wish

Preventive

data

assistant

GPS data

Safety Decision Control System

MMI

Assistant

Motion wish vector

Load of tractor

Framework

Preventive vector

Camera

Other

Preventive

Assistant

Systems

Preventive

interface

1.)

2.)

� Extension 1:

– Define clear SW/HW-interfaces of newly

to develop Safety Decision Control

Systems within automotive applications

� Extension 2:

– Extend safety concept of heavy goods

vehicle to full tractor-trailer combination

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• DaimlerChrysler AG

• e-Stop

• SKF

• Kögel

• iQ-Battery

• Knorr Bremse

• Haldex

• Georg Fischer AG

• Motorola

• Simtec

• ETAS

• Dürr-Schenck AG

• Siemens-VDO

• Jamar

• Michelin

• Magna-Steyr

• Universität Stuttgart ILS

• DLR Braunschweig

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Extended Redundant X-by-Wire Powertrain control

Driver’s

motion

vector

Preventive

Data fusion

Assistant

Safety Decision Control System

MMI data fusion

Assistant

Drivers Motion Vector

Framework

Redundant Vector

Preventive

data

Preventive

interface

Secure Motion Vector

Driver’s

interface

???� Aim 1:

– Nowadays, Preventive Systems passes safety

relevant information towards the driver directly,

SPARC aims at a Safety Decision Control

Systems within automotive applications

� Aim 2:

– SPARC extends this safety concept of heavy

goods vehicle to full tractor-trailer combination

Safety Decision Control System

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AIDEPREVENT

Load trailor

Extended Redundant X-by-Wire Powertrain control

Preventive

data fusion

assistant

GPS data

Safety Decision

Control SystemFramework

Load tractor

Framework

Trailor Control

Motion

control

Preventive vector

Camera

Preventive

Assistant

Systems

Preventive

interface

Secure Motion Vector

Driver’s

motion

vector

MMI data fusion

Assistant

Drivers Motion Vector

Driver’s

interface

MMI

Assistant

� Aim 1:

– Define clear SW/HW-interfaces of newly to

develop Safety Decision Level control Systems

to other related development� Aim 2:

– SPARC is built upon PEIT and able to be used

by other project systems like developed within

PREVENT and AIDE

PEIT

SPARC

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a

load

frame

integrated powertrain3E

C

U

cabin

1

E

C

U

5E

C

U

assistant

systems

telematic

Friction, road condition

f

b

g

d

e

c

a primary evaluation (driver)

b motion wish of driver

c redundant, reactive evaluation

d redundant, predictive internal evaluation

e redundant, predictive external evaluatio

f secure motion vector

g real motion (lateral and longitudinal)

dataflow surrounding evaluation

dataflow motion control

d surrounding

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a

Ladung

frame

integrated powertrain3E

C

U

Fahrer-

haus

1

E

C

U

5E

C

U

Sicherheits-

Assistent

telematic

Friction, road condition

f

b

g

d

e

c

a primary evaluation (driver)

b motion wish of driver

c redundant, reactive evaluation

d redundant, predictive internal evaluation

e redundant, predictive external evaluatio

f secure motion vector

g real motion (lateral and longitudinal)

dataflow surrounding evaluation

dataflow motion control

d

secure

motion

vector

decision of

motion strategy

surrounding

32 / 36

Trailer

ECU

PTC 2

ECUTE

Br R

TractorTrailer

ECU

EDS

Br F

Redundant Powertrain

controller (PTC)

Safebus

Safeenergy

PLC

� Aims

– Extend safety concept of heavy goods vehicle to

full tractor-trailer combination

– Define clear SW/HW-interfaces within automotive

redundant control systems

EMB

EMB

EMB

EMB

EMB

EMB

EMB

EMB

EMB

EMB

EMB

EMB

New Trailer Concept

33 / 36

NewNew Trailer ConceptTrailer Concept

Centralmodule Trailer� preparation compressed air� vehicle communication� control of lightning� load management� stamp controlPLC-

connection

Trailer-axle� brake pressure control� ABS-control� air suspension� lift axle� storage of compressed air

PLC-connection�electrical power�data communication

PowerData

compressed air

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Integration SPARC Integration SPARC SemitrailerSemitrailer

Semitrailer with

• pneumatical trailer axles

• trailer centralmodule

• sensing coppling angle

• wireless transfer of power

• transfer geometrical data for backward driving

• preparing wheelspeed for third control circle

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Integration SPARC Integration SPARC TrailerTrailer

Trailer with

• electromechanical Trailer axles (EMB)

• trailer centralmodule

• sensing coppling angle

• electrical transfer of power

• transfer geometrical data for backward driving

• preparing of wheelspeed for third control circle

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Modular scaleable

SPARC concept set-up

Powertrain-Controller

Steer-by-Wire Shift-by-Wire Brake-by-WirePower-by-Wire

SPARC

Commercial Vehicle

Powertrain-Controller

European projectsPEIT and

now SPARC

Steer-by-Wire Shift-by-Wire Brake-by-WirePower-by-Wire

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SoftwareLevel

Test CasesIntegration Testing

Test CasesModule Testing

Test CasesSystem Testing

Software-Specifications

Software-Software-SpecificationsSpecifications

Release

System-IntegrationApplication

Testing

ReleaseRelease

System-IntegrationSystem-IntegrationApplicationApplication

TestingTesting

Integration Testing

Software-Integration

IntegrationIntegrationTestingTesting

Software-Software-IntegrationIntegration

Software-ImplementationSoftware-Module-Testing

Vehicle andSystem Level

Software-Design

(Architecture)

(rough + fine)

Software-Software-DesignDesign

((ArchitectureArchitecture))

((roughrough + + finefine))

MaintenanceMaintenanceMaintenanceFeasability StudyFeasability StudyFeasability Study

Software-Hazard Analysis /FTA /

Testcase generation

Software-Software-Hazard AnalysisHazard Analysis /FTA / /FTA /

Testcase generationTestcase generation

Software-System Interface description

Software-Software-System InterfaceSystem Interface description description

System-Specification

System-Layout

System-System-SpecificationSpecification

System-System-LayoutLayout

System Interface descriptionSystem InterfaceSystem Interface description description

System-HAZLOGHazard

Analysis /FTA

System-HAZLOGSystem-HAZLOGHazard Hazard

AnalysisAnalysis /FTA /FTA

SubsystemHazard

Analysis /FTA

SubsystemSubsystemHazard Hazard

AnalysisAnalysis /FTA /FTA

HomologationLevel

System-HAZLOGHazard

Analysis /FTA

System-HAZLOGSystem-HAZLOGHazard Hazard

AnalysisAnalysis /FTA /FTA

SubsystemHazard

Analysis /FTA

SubsystemSubsystemHazard Hazard

AnalysisAnalysis /FTA /FTA

System Interface testingSystem Interface System Interface testingtesting

HomologationLevel

�Aims

– Evaluate,

describe and

control

harmonised

homologation

path of

complete

safety

relevant

systems

(scalable

SW/HW

structure)

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www.eu-peit.net

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Thank you for attention