Welcome To Thesis Presentation

1. Welcome To Thesis Presentation CHALMERS VOLVO TECHNOLOGY CORPORATION Team Atul Yadav Tripti Saxena Team Supervisors Volvo – Henrik Lönn, Magnus Hellring, Patrik Isaksson Chalmers – Jan Jonsson Linköping University – Paul Pop KTH – Martin Törngren

2. Two thesis System Modeling using the EAST ADL (SMA) By : Tripti Saxena Semi-Automatic Mapping of Automotive Electronic Functionality (SAM) By : Atul Yadav

3. Automotive Electronic Features MOTIVATION ABS Transmission Control ESP ACC BbW XbW EMS 1980 2010 Increased complexity, criticality, vehicle influence, cost, value, design effort, etc.

4. The major goal of EAST-EEA is to enable a proper electronic integration through definition of an open architecture. This will allow to reach hardware and software interoperability and re-use for mostly distributed hardware. EAST ADL (Architecture Description Language) Objectives Describe Electronic and Electric Architechture such that : • Descriptions can be used for • - Simulation • - Analysis • - Synthesis • - Allocation decisions • - Documentation • Complexity can be managed • Descriptions can be re-used • Function descriptions are • HW independent MOTIVATION EAST EEA PROJECT Work package 3

5. SMA Objective The aim of this thesis is to study EAST ADL, a specific description language, in the context of an experimental X-by-Wire vehicle.

6. SAM Objective The aim of this thesis is to investigate the mapping problem and to find out about the parameters and constraints to be considered when performing mapping of the automotive electronic functionalities to the electronic control units (ECU).

7. Vehicle View Defines features in Functional Analysis Architecture Refined into Tentatively allocated to Refined into Appears as Allocated to Results Operational Architecture in Functional Design Hardware Architecture Architecture Logical Technical Architecture Architecture COMMONALITY BETWEEN BOTH THESIS • The FAR project • EAST ADL Modeling details

8. System Modeling using the EAST ADL (SMA)

9. Goal The aim of this thesis is to study EAST ADL, a specific description language, in the context of an experimental X-by-Wire vehicle.

10. Contents Parallel Work • A: Requirements and specifications study • B: Evaluation of EAST ADL • C: Study models from the Far project • D: Carry out a design case by use of the EAST ADL on the Far car. • E: Modify the East-ADL • F: Evaluate and summarize results Iterative

11. EAST ADL Abstraction levels • A profile, which extends UML 2 proposal • Domain specific notation • Domain specific modeling concepts • Abstraction Levels • Requirements Specification • Variant Handling

12. Vehicle View • Top down Approach optional Functional Analysis Architecture mandatory Operational Architecture Functional Design Hardware Architecture Architecture Logical Technical Architecture Architecture Vehicle View EAST ADL Abstraction Layers Vehicle Type Heirarchy EFeatures • Purpose Entities describing User visible features Variation Decomposition

13. Vehicle View EFeature Repository Functional Requirement • Basic Functionality • Steer • Brake • Accelerate • Advanced Functionality • Cruise Control • Vehicle Safety Laser Distance Sensor Use-Case , MSC Design Constraints

14. Vehicle View Defines Features in Functional Analysis Architecture Functional Analysis Architecture Abstract View EAST ADL Structure • Purpose Behavior & algorithms of the functionality

15. Vehicle View Local Control (4X) Defines features in Functional Analysis Global Control Architecture Refined into HMI Functional Design Architecture Functional Design Architecture Abstract View EAST ADL Structure Purpose Decomposition of functionality to meet constraints

16. Timing Requirements Allocation Constraint Signal Device Interfacing <<Composite Software Function>> Wheel Control Functional Design Architecture EAST ADL Structure Requirements Behavior

17. Vehicle View Defines features in Functional Analysis Architecture Refined into Tentatively allocated to Functional Design Hardware Architecture Architecture Hardware Architecture • Purpose Physical entities of system

18. Hardware Architecture

19. Vehicle View Defines features in Functional Analysis Architecture Refined into Tentatively allocated to Functional Design Hardware Architecture Architecture Refined into Logical Architecture Logical Architecture Purpose Flat software structure for allocation

20. Logical Architecture

21. HAF-Peripheral Association Vehicle View Defines Features in Functional Analysis Architecture Tentatively allocated to Functional Design Hardware Architecture Architecture OS-Processor Association Refined into Appears as Logical Technical Architecture Architecture Technical Architecture Purpose Operating System and Middleware API

22. Vehicle View Defines Features in Functional Analysis Architecture Tentatively allocated to Functional Design Hardware Architecture Architecture Refined into Appears as Logical Technical Architecture Architecture Allocated to Operational Results Architecture in Operational Architecture OSTask carrying code Frames & Communication Buffer for communication

23. Operational Architecture Intra ECU communication Inter ECU communication

24. Summary &Conclusions • Systematic evalutation of EAST ADL • EAST ADL Modeling • Structural Model of the FAR Hardware • Structural Model of the FAR Software • Limited Requirements Modeling Future Work • Behavior Modeling of the FAR car • Complete requirements modeling of the FAR car • Verification and Validation

25. Thank You

26. SAM Semi-Automatic MappingofAutomotive Electronic Functionality(SAM)

27. ABS ACC SbW Specification Specification Specification Tool+ Model Tool+ Model Tool+ Model Tool+ Model Tool+ Model Tool+ Model Implementation Implementation Implementation ECU ECU ECU Current Status • Suppler deliver ”Black – boxes” • What happens ? ( Problem) • Constant addition of H/W to vehicle • Low flexibility • No standards • Requires knowledge about • different OS,H/W • Everything from scratch • (time to market ?) One function - One ECU

28. ABS ACC SbW Specification Specification Specification Tool+ Model Tool+ Model Tool+ Model Tool+ Model Tool+ Model Tool+ Model Functional Integration X Functions - Y ECUs Implementation Implementation Implementation Implementation ECU ECU ECU ECU Future Development Practice What can be done: Standardised middleware Advantage ? Applications may be developed with no concerns about the underlying platform.

29. Goal of the project The goal of the project is ” to investigate the mapping problem and to find out about the parameters and constraints to be considered when performing such a mapping”.

30. Steps Followed • What are the different types of electronic applications ? • What are the constraints they can impose ? • Which of them are relevant for mapping ? • Where should the mapping tool reside in EAST ADL ? • What is the input that the mapping tool requires ? • Semi-Automatic Integration of the tool with EAST ADL. • Modeling FAR and applying it to the tool.

31. Constraints from the Applications • Functional behavior • Temporal • Safety – Critical • Cost • Power consumption • Physical • Locality • Security • Flexibility

32. Relevant Attributes • Timing (period, wcet, deadline, offset) • Triggering • Safety-Criticality • Cost • Power consumption • ECU (speed, memory) • Bus (speed,protocol) • Locality

33. Vehicle View Defines features in Functional Analysis Architecture Refined into Tentatively allocated to Refined into Appears as Allocated to Results Operational Architecture in Functional Design Hardware Architecture Architecture Logical Technical Architecture Architecture Placement of the Mapping Tool

34. Hardware Architecture Mapping Tool Operational Architecture Logical Technical Architecture Architecture Tool Interface

35. Logical Architecture Level

36. ... ... Application: set of process graphs Application: Logical Architecture Level Mapping of Functionality to the Platform Mapping (”logical architecture”) - What function on which ECU ? Mapping Architecture: Multi-cluster Problem : The requirement is that the functionality be specified at process level.

37. Algorithm Logical Architecture level Process Graph

38. ... Time-triggered cluster • Static cyclic scheduling • Time-triggered protocol Gateway ... Event-triggered cluster • Fixed priority preemptive scheduling • Controller area network protocol Time Triggered Protocol (TTP) • Bus access scheme: time-division multiple-access (TDMA) • Schedule table located in each TTP controller: message descriptor list (MEDL) Controller Area Network (CAN) • Priority bus, collision avoidance • Highest priority message wins the contention • Priorities encoded in the frame identifier S0 S1 S2 SG S0 S1 S2 SG Slot TDMA Round Cycle of two rounds System Platform

39. Input to the Tool • Process {id, period, deadline, offset, memory} • Message {id, src, dst, size, deadline} • ECU {id, speed, memory} • Bus {id, speed, protocol} • StrictConstraint • LooseConstraint • ClusterConstraint Process graph Hardware resource Locality constraint

40. P0 P1 P11 P2 P3 P12 P6 P14 P16 P8 P9 P17 P10 P18 After Mapping P0 P1 P11 P2 P3 P12 P13 P13 P6 P4 P5 P4 P5 P14 P16 P15 P8 P9 P15 P7 P7 P17 P10 First ECUSecond ECUThird ECU P18

41. Parser DOM Parser DOM XML Document XML Document Algo. Application Extract Attributes Logical Architecture Tool Integration with EAST ADL (Input Side) • Process {id, T, D, C, M} • Message {id, src, dst, size, d} Vehicle View • ECU {id, speed, memory} • Bus {id, speed, protocol} Defines features in • StrictConstraint • LooseConstraint • ClusterConstraint Functional Analysis Architecture Refined into Tentatively allocated to Functional Design Hardware Architecture Architecture as Refined into Appears Logical Technical Architecture Architecture Allocated to Results Operational Architecture in

42. EAST ADL without OA Mapping Tool • Process {id, T, D, C, M} • Message {id, src, dst, size, d} • ECU {id, speed, memory} • Bus {id, speed, protocol} • StrictConstraint • LooseConstraint • ClusterConstraint Hardware Hardware Architecture Architecture Output from tool proc.:P1 <PR33> o=0 r=0 <PR5> o=31 r=5 ............ proc.:P4 <PR15> priority=2 o=138 r=17 <PR21> priority=1 o=99 r=32 ............... bus:CAN <ARC4> priority=1 o=29 r=2 size=2 PR4 --> PR5 <ARC13> priority=2 o=105 r=2 size=2 PR12 --> PR13 Mapping Tool Mapping Tool Modify DOM XML Document Mapping Tool Modified XML Document Operational Operational Architecture Architecture Operational Architecture EAST ADL with OA Logical Logical Technical Technical Architecture Architecture Architecture Architecture Tool Integration with EAST ADL (Output Side) How this is done ?

43. MAPPING APPLIED TO FAR Logical architecture level of FAR model in EAST ADL. Hardware architecture level of FAR model in EAST ADL.

44. MAPPING APPLIED TO FAR Loop free dataflow graph of FAR vehicle

45. MAPPING APPLIED TO FAR Mapping Results

46. Discussion

47. GME Meta M3 (MOF) M2 (Meta Model) Meta Model Model M1 (Model) EAST Modeling Layers Generic Modeling Environment Definition of syntax and semantic Model of FAR Data Model execution, data archive, file

48. EAST ADL EAST ADL , UML Definition of syntax and semantic Model of the FAR car Model execution, data archive, file

49. Thank You !