1. Vehicular Technologies Embedded Systems Seminar Fall 2005 Elliot Jaffe

2. Sensors, Networks and Processors ● Applicable Vehicles ● Potential Uses ● Aside: Automotive equipment lifecycle ● Networking ● Processing ● Sensors ● Conclusions

3. Applicable Vehicles

4. Potential Uses ● Lifecycle Management – Equipment Monitoring, Maintenance, Performance ● Awareness of the Environment – Weather Conditions, Air Pressure, Road Surface ● Awareness of the Operators – Physical State, Mental State, Comfort ● Global vs. Local Interactions – Convoys, Traffic Planning, Collision Detection

5. Automotive Component Lifecycle ● Long lead times between conception and wide spread deployment ● Case in point: Anti-Lock Brakes (ABS) – Bosch 1930’s – First Electronic system in production: 1978 ● Trucks and Mercedes-Benz – Standard Equipment – 1985 (Ford Grenada Mk3) – GM stops offering ABS as Standard Equipment on most of its 58 vehicles in 2003

6. Automotive Component Requirements ● Low Cost ● Mass Production (availability, liability) ● Dependability (reliability, safety) ● System Modularity ● Easy Field Maintenance ● Simple MMI (drivers are not experts) ● Security (against prohibited actions)

7. Automotive Component Lifecycle Source: Integrated Vehicle Control System Technology — Steering, Braking, Suspension, and Powertrain Systems, Aloysius J. (Alois) Seewald, TRW Automotive Chassis

8. Networking ● Many bus definitions – http://www.interfacebus.com/Design_Connector_Automotive. html http://www.interfacebus.com/Design_Connector_Automotive. html – Class A: UART < 10kbps – Class B: non-critical 10kbps to 125kbps – Class C: real-time high-data: 125kbps – 1Mbps – Emissions/Diagnostics – Mobile Media – X-By-Wire: replace mechanical systems ● -40  +125C

9. Examples ● LIN- local interconnect network – http://lin-subbus.org http://lin-subbus.org – 20Kbps – Master/slave architecture ● CAN – controller area network (ISO 11898) – http://www.ni.com/automotive/can.htm http://www.ni.com/automotive/can.htm – High speed: 1Mbps ● Engine and powertrain – Low speed: 128kbps ● Body and comfort devices

10. Networking ● X-By-Wire Architecture – Proposed by Consortium in 1996-1998 – Time Triggered Protocol (1993) – Considered failure modes and requirements – Composability – Timeliness – Fault Tolerance – http://www.vmars.tuwien.ac.at/projects/xbywire/projects/new-home.html

11. X-By-Wire

12. Processing ● First Microprocessor, 1978 Cadillac Seville – Trip Computer, 6802 ● Freescale (Motorola) MPC563 32bit microprocessor – 63-105 MIPS – -40C – 125C – 2.6V Core Operating Voltage – 5V I/O Operating Voltage – 0.8, 1.12W Power dissipation (typical, max) – 512K Flash RAM, 32K RAM – 32 Channel A/D (10 bits) Source: www.freescale.com

14. Sensors ● Engine and Drivetrain Sensors ● Emissions Control System Sensors ● Safety and Security Sensors ● Other Internal Sensors

15. Engine and Drivetrain Sensors Throttle Position –Monitors the position of the accelerator pedal and the throttle linkage, so the ECM can make accurate air/fuel mixture adjustments Barometric Air Pressure (BAP –Reads changes in barometric (air) pressure. The ECM uses this information to adjust timing advance and air/fuel ratio Mass Air flow/ MAF –Measures the amount of air drawn through the engine's air intake, so the computer can compensate for altitude and temperature

16. Engine and Drivetrain Sensors Permanent magnet vehicle speed sensor –A permanent magnet generator –Produces a pulsing (ac) voltage when it spins –Voltage level and number of pulses increase with vehicle speed Knock / Detonation –Listens for engine "ping" so the ECM can retard the spark timing, and thereby reduce emissions and overheating, if the engine is knocking

17. Engine and Drivetrain Sensors Magnetic Fluid Level –Used for brake fluid, coolant, washer fluid and oil level sensing Temperature –Air Temperature –Coolant Temperature –HVAC Temperature –Transmission Temperature

18. Emission Control Sensors ● Required due to emission control legislation ● EGR Valve – Recalculates a measured amount of exhaust gas into the engine's air intake, to lower combustion temperatures and reduce emissions, especially NOx ● Ported Vacuum Switch – Senses engine temperature, and opens or closes vacuum lines to various emissions-related components

19. Safety and Security Sensors Inertial Sensors –active stabilization and navigation applications Wheel Speed Occupant Position –Weight –Driver Seat Position Tire Inflation

20. Other Interior Sensors ● Climate Control Systems ● Ambient Air Temperature ● Seat Temperature ● Air Flow ● Audio Volume (for Active Feedback) ● Ambient Light (for auto-tint)

21. External Sensors ● DARPA Grand Challenge ● http://www.darpa.mil/grandchallenge/TechPapers/AutonomousVehicleSystems.pdf http://www.darpa.mil/grandchallenge/TechPapers/AutonomousVehicleSystems.pdf ● Range Finding ● Obstacle Detection ● Terrain Detection

22. Team CIMAR

23. U. Indiana: Rubicon

24. Stanford

25. Range Finding RADAR –Radio Detection and Ranging LADAR –Laser Detection and Ranging SONAR –Sound Navigation and Ranging

26. Detection in Operation

27. Conclusion ● Applicable Vehicles ● Potential Uses ● Aside: Automotive equipment lifecycle ● Networking ● Processing ● Sensors