mobıl uygulama altyapısı_2016
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mobıl uygulama altyapısı_2016
MARMARA ÜNİVERSİTESİ TEKNOLOJİ FAKÜLTESİ • Automotive Software Systems • Software Architectures for Advanced Driver Assistance Systems (ADAS) • The Intelligent Automated Vehicle: the Last IoT Node • Araçlardaki Mobil Uygulamalara Örnekler Abdullah DEMİR, Yrd. Doç. Dr. HATIRLATMA The ISQ symbols for the bit and byte are bit and B, respectively. In the context of data rate units, one byte consists of 8 bits, and is synonymous with the unit octet. The abbreviation bps is often used to mean bit/s, so that when a 1 Mbps connection is advertised, it usually means that the maximum achievable bandwidth is 1 Mbit/s (one million bits per second), which is 0.125 MB/s (megabyte per second), or about 0.1192 MiB/s (mebibyte per second). The Institute of Electrical and Electronics Engineers (IEEE) uses the symbol b for bit. Kilobit per second kilobit per second (symbol kbit/s or kb/s, often abbreviated "Kbps") is a unit of data transfer rate equal to: 1,000 bits per second 125 bytes per second Megabit per second megabit per second (symbol Mbit/s or Mb/s, often abbreviated "Mbps") is a unit of data transfer rate equal to: 1,000,000 bits per second 1,000 kilobit per second 125,000 bytes per second 125 kilobytes per second The International System of Quantities (ISQ) https://en.wikipedia.org/wiki/Data_rate_units Tony Cooprider, Senior Technical Leader for Ford Motor Co. “Twenty-five years ago, 75% of the vehicle value was mechanical, 22% was electronics and there was a sliver of software. Software has grown to 18%, electronics is now about a third and about half is mechanical parts.” “We need to consolidate what we’ve distributed, we want to reduce the number of controllers in a car,” said Michael Groene, Director of Global Software Engineering at Delphi Automotive. SAE.ORG, Next-gen electronic controls: Open source, scalable and integrated; 19-Apr-2016 04 Modern Vehicles – Very Sophisticated • How many lines of code in a: – F-22 Raptor: 1.7 million – Average new Ford: 10 million Lines Of Code: Kod Satırı Noah Goodall, VDOT’s Connected Vehicle Program, Virginia Center for Transportation Innovation and Research, ASHE Old Dominion Section Meeting, June 13, 2013 Computerized Measurement • Speed • Heading (rota, yön) • Acceleration (lateral, longitudinal, vertical) • Position (from GPS) • Other diagnostics Wipers on/off Braking status Tire pressure Steering wheel angle Headlights on/off Turn signals on/off Rain sensors Stability control Noah Goodall, VDOT’s Connected Vehicle Program, Virginia Center for Transportation Innovation and Research, ASHE Old Dominion Section Meeting, June 13, 2013 Kia • Seri iletişim • Paralel iletişim Not: Paralel devrede 2 farklı sinyal için 2 kablo kullanılırken seri devrede bir kablo üzerinden 2 ayrı sinyal gönderilir. Kia Ağ Tasarımları ECU’lar aralarında bilgi birbirlerine bağlanırlar. alışverişi ECU’lar arasında 3 tip bağlantı vardır. • Çember/Halka • Yıldız • Otobüs/Bus Kia yapabilmek için Bu tip bağlantıda ECU’lar sinyal gönderir ve gönderdiği sinyal tekrar kendisine gelir. Kia Bu tip bağlantıda merkezde bir ana ECU vardır. Diğer ECU’lar ana ECU üzerinden birbirine bağlanırlar. Kia Bu tip bağlantıda ECU’lar ortak iletişim kablosuyla birbirine bağlıdır. Ortak iletişim kablosu üzerinden data/veri transferi oluşur. Kia Kia İletişim Hızına Göre Sınıflandırma Kia İletişim Hızına Göre Sınıflandırma Kia Introduction to Automotive Software Systems 2IN60: Real-time Architectures (for automotive systems) More and more car functions are being implemented in software Developing software is expensive $$$ Car functions powertrain, e.g. engine control, transmission and gear control; chassis, e.g. ABS (Antilock Braking System), ESP (Electronic Stability Program), ASC (Automatic Stability Control), ACC (Adaptive Cruise Control); body (comfort), e.g. air conditioning and climate control, dash board, wipers, lights, doors, seats, windows, mirrors, cruise control, park distance control; telematics/wireless, e.g. multimedia, infotainment, GPS and in-vehicle navigation systems, CD/DVD players, rear-seat entertainment; passive safety (emerging), e.g. rollover sensors, airbags, belt pretensioners. Powertrain Chassis Body Telematics Passive safety Program size 2 MB 4.5 MB 2.5 MB 100 MB 1.5 MB Number of ECUs 3-6 6-10 14-30 4-12 11-12 Number of messages 36 180 300 660 20 Bus topology Bus Bus Bus Ring star Bandwidth 500 Kb/s 500 Kb/s 100 Kb/s 22 Mb/s 10 Mb/s Cycle time 10 ms – 10 s 10 ms – 10 s 50 ms 2 s 20 ms 0 5 s 50 ms Safety requirements High High Low Low Very high 20 Complexity is due to the many dependencies E.g. communication Communication is expensive Surface area, power consumption, latency, ability to understand system behavior, … Modular design: Divide an integrated system into independent modules Define interfaces between the modules Keep the interfaces thin! Advantages Separation of concerns Flexibility Maintainability Security Controls one or more car functions Types of electronic control units Airbag (ACU), Engine (ECU), Transmission (TCU), … 70 – 100 ECUs inside a car (nearly as many as inside Airbus A380) Microprocessor-based An ECU and its interfaces Power Debug port CAN port FlexRay port Digital and Analog I/O ports Example ECU (Freescale board EVB9512XF) Power CAN controller CAN port Reset button Debug port FlexRay port Digital and Analog I/O ports Microcontroller (CPU + memory) LEDs Connects individual ECUs Examples: CAN, FlexRay, I2C, IEEE 802.11p Diagnose Gateway K-CAN System MOST K-CAN Periphery SI-BUS (Byteflight) PT-CAN A particular bus defines the communication protocol (including message format and possible message exchanges), bandwidth, physical interfaces. 1986 - Robert Bosch / 1993 - ISO Tek bir hat üzerinden kablolu veri transferi Kontrol Alan Ağ modülü bulunan ilk entegre 1989 yılında Intel Corp. tarafından piyasaya çıkarılmıştır. • Siemens, • Motorola, • Philips, • Microchip Endüstriyel otomasyon, otomotiv ve mühendisliğin çeşitli alanlarında kullanılır. Çift yönlü veri haberleşme için kullanılır. • Yüksek performanslı, • Güvenilir, Kablolu ağ teknolojisidir. Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt • Ağa bağlı bir düğümden tüm sistem kontrol edilebilir. • Fonksiyonları kontrol eden komutlar seri olarak gönderildiği için kablo ve konnektör karışıklığı azalır. • Sistemin çözülmesi veya toplanması daha kolay ve daha hızlıdır. • Verimli hata bulma sağlar. • Kullanıcıya uyarı ve durum bilgisi göndermek için daha yüksek kapasite sağlar. • Ağa yeni kontrol birimlerinin kolayca eklenebilmesini sağlar. • Ağa erişimde farklı erişim öncelikleri sağlar. Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt Flex Ray Flex Ray, araç bileşenleri arasında veri aktarımını hızlandıran yeni geliştirilmiş bir seri veri yolu sistemidir. Flex Ray, farklı sistemlerin güvenli ve hassas bir şekilde birbirine bağlanmasına olanak verir. Yeni ve hızlı sürücü destek sistemleri ile yürüyen aksam kontrol sistemleri daha güvenli ve daha konforlu sürüş anlamına gelir. Elektronik sürücü destek sistemlerinin karmaşıklığı gün geçtikçe artmaktadır. Yeni şasi ve hareketli aksam kontrol sistemleri, etkin bir şekilde işlev görebilmek için son derece yüksek veri aktarım hızlarına ihtiyaç duymaktadır. Bu artan gereksinimleri karşılamak için BMW, otomotiv uygulamalarında gerekli olan güvenlik, hız ve yüksek kaliteyi sağlayabilecek yeni bir veri yolu sistemi geliştirmek için konusunda uzman firmalar ile işbirliğine girdi. 2007 yapımı BMW X5, dünyada bu yeni teknolojiyi kullanan ilk standart üretim otomobil oldu. Flex Ray, Adaptif Sürüş yürüyen aksam kontrol sisteminin optik veri yolunu kontrol eder ve amortisörlerin elektromanyetik valfleri ile dengeleyicileri kontrol etmekte kullanılır, bu sayede Adaptif Sürüş, araç gövdesinin yana yatma etkisini ortadan kaldırır. Flex Ray’in en önemli avantajlarından biri yüksek veri aktarım hızlarıdır: Saniyede 10 MBit’e varan bu hız, geleneksel CAN veri yolu sistemine göre yirmi kat daha fazladır. İkinci bir Flex Ray iletişim kanalı, güvenliği her zaman mükemmellik düzeyinde tutabilmek için yedek görevi görür. Eğer kanallardan biri işlevini yerine getiremez duruma gelirse, diğeri kullanılabilir durumda kalır. Güvenlik tehlikesi taşımayan sistemlerde, tek bir kanalın kullanımı ile daha yüksek bir veri aktarım hızı elde edilebilir. Bu avantajlar, araç üzerindeki sistemlerin birbirleri ile daha hızlı ve daha güvenli iletişim kurmasına olanak vererek, sürüş konforunu ve güvenliğini önemli ölçüde artırır. Kaynak: “BMW.com.tr” web sitesi, BMW Teknoloji Rehberi (Erişim Tarihi: 03/04/2014). I2C Data Transfer: Data on the I2C bus is transferred in 8-bit packets (bytes). There is no limitation on the number of bytes, however, each byte must be followed by an Acknowledge bit. This bit signals whether the device is ready to proceed with the next byte. For all data bits including the Acknowledge bit, the master must generate clock pulses. If the slave device does not acknowledge transfer this means that there is no more data or the device is not ready for the transfer yet. The master device must either generate Stop or Repeated Start condition. K.M.Sivakumar, B.Gopalakrishnan, "Design and Implementation of Vehicle Control System Using I2C Protocol", International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007 Certified Organization), Vol. 3, Issue 11, November2014 Reading Text The term embedded system is quite a complex one. Simply it is a combination of hardware and software that forms the component of a larger system; this in turn is programmed to perform a range of dedicated functions usually with a minimal operator intervention. In embedded systems the hardware is normally unique to a given application; computer chips are embedded into the control electronics to manage the products functionality. Embedded systems are rapidly becoming a catalyst for change in computing data communications, telecommunications, industrial control and entertainment sectors. Serial interface allow processors to communicate without the need for shared memory and the problems they can create. There are Serial communication protocols like UART, CAN, USB, SPI, and Inter IC. USB, SPI and UARTS are all just one type to point type protocol. USB uses multiplexer to communicate with the other devices. Only I2C and CAN protocol uses software addressing. But only I2C is very simple to design and easy to maintain. K.M.Sivakumar, B.Gopalakrishnan, "Design and Implementation of Vehicle Control System Using I2C Protocol", International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering (An ISO 3297: 2007 Certified Organization), Vol. 3, Issue 11, November2014 IEEE 802.11p is an approved amendment to the IEEE 802.11 standard to add wireless access in vehicular environments (WAVE), a vehicular communication system. It defines enhancements to 802.11 (the basis of products marketed as Wi-Fi) required to support Intelligent Transportation Systems (ITS) applications. This includes data exchange between high-speed vehicles and between the vehicles and the roadside infrastructure in the licensed ITS band of 5.9 GHz (5.85-5.925 GHz). IEEE 1609 is a higher layer standard based on the IEEE 802.11p. https://en.wikipedia.org/wiki/IEEE_802.11p The Institute of Electrical and Electronics Engineers ya da kısaca IEEE (Türkçe: Elektrik ve Elektronik Mühendisleri Enstitüsü) The IEEE 802.11p wireless access in vehicular environment (WAVE) protocol providing for vehicle-to-infrastructure and vehicle-to-vehicle radio communication is currently under standardization. We provide an NS-2 simulation study of the proposed IEEE 802.11p MAC protocol focusing on vehicle-to-infrastructure communication. We show that the specified MAC parameters for this protocol can lead to undesired throughput performance because the backoff window sizes are not adaptive to dynamics in the numbers of vehicles attempting to communicate. We propose two solutions to this problem. One is a centralized approach where exact information about the number of concurrent transmitting vehicles is used to calculate the optimal window size, and the other is a distributed approach in which vehicles use local observations to adapt the window size.We show that these schemes can provide significant improvements over the standard MAC protocol under dense and dynamic conditions. http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4640898&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farn umber%3D4640898 Dedicated Short-range Communications (DSRC): Tahsis Edilmiş Kısa Mesafe İletişim • Araçsal Ağlar 5.9 GHz bandında, 75 MHz’lik band genişliğine sahip, yüksek veri transfer hızı (6-27 Mbps) sunan DSRC (Dedicated Short Range Communications) standardını kullanır. • Bu standarda göre yol üzerinde hareket halindeki araçlar; mevki, zaman, yön, hız, trafik durumu bilgilerini içeren rutin trafik mesajını yaymak zorundadır. Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt On-Board Diagnostic bir aracın kendi kendine tanı ve raporlama yeteneğini yapabilmesini sağlayan bir otomotiv standardıdır. OBD sistemleri aracın alt sistemlerine, sensor bilgilerine, motor hakkında çeşitli verilere erişimi sağlar. Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt Elektronik kontrol ünitesi (ECU) herhangi bir arıza oluştuğunda bir kod numarası bildirir. SAE J1850 PWM (pulse-width modulation — 41.6 kB/sec, standard of the Ford Motor Company) SAE J1850 VPW (variable pulse width — 10.4/41.6 kB/sec, standard of General Motors) ISO 9141-2. This protocol has an asynchronous serial data rate of 10.4 kBaud. It is somewhat similar to RS-232; however, the signal levels are different, and communications happens on a single, bidirectional line without additional handshake signals. ISO 9141-2 is primarily used in Chrysler, European, and Asian vehicles. ISO 14230 KWP2000 (Keyword Protocol 2000) ISO 15765 CAN (250 kBit/s or 500 kBit/s). The CAN protocol was developed by Bosch for automotive and industrial control. Unlike other OBD protocols, variants are widely use outside of the automotive industry. While it did not meet the OBD-II requirements for U.S. vehicles prior to 2003, as of 2008 all vehicles sold in the US are required to implement CAN as one of their signaling protocols. Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt Software Architectures for Advanced Driver Assistance Systems (ADAS) Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 Power Consumption within BMW cars Max. power consumption limits the number of ECUs Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 Rising Quota of Multicore deliveries at Volkswagen Multicore usage ramps up (e.g. Powertrain). ADAS will speed this up. Ramp up: Desteklemek yada güçlendirmek Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 There is a very basic and helpful definition for a safe system: “You know what the system does” Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture Approach: 2 channels with comparison Two ECUs working on the input data, outputs are compared A 2 channels with comparison system is simply fail-safe and since you cannot distinguish between “ECU1 not ok” and “ECU2 not ok”. The safe state is a complete system shutdown. Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture Approach: 2oo3 Systems If one of the ECUs fails the system can continue with the remaining two ECUs. Failures in the input data can be detected by an “Input-Voter”. This pattern is well established. Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture 2oo3 Systems and automotive Applicable for automotive? • More ECUs • More wiring • More weight • More power consumption • Higher complexity to manage Will we as a customer accept that? • Different opinions and market studies • Referring to several studies, customer will pay 1500 – 3000 € more for autonomous driving car (mid-size car). Source: KPMG(2013), autelligence (2015) Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture Approach: 1oo2D System High diagnostic coverage needed to detect failures in one channel • IF component fails in one of the two channels, the system does not shut down but continues to operate with one channel Common sense: The best policy is not to operate on a single channel, or not for a long period of time. See above: only some seconds may be needed. Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture Diagnostics in software in autonomous driving systems Integrity mechanism • Memory Partitioning • Temporal Monitoring • Data protection Infrastructure • Fault tolerant Ethernet • Service Orientated communication Software Engineering • Plausibility checks • Functional monitoring • Defensive programming • Dynamic analysis Safety OS • Data Protection • Stack Protection • Context Protection • OS Protection • Hardware Error management Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture Outlook: Reconfiguration for rebuilding 1oo2D Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 System Architecture 1oo2D - Normal operation Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 ECU Software Architecture Overview of different architecture approaches Robert Leibinger, Software Architectures for Advanced Driver Assistance Systems (ADAS), Elektrobit Automotive GmbH, July 7th, 2015 The Intelligent Automated Vehicle: the Last IoT Node Juergen Weyer, Vice President Automotive Sales EMEA - The Intelligent Automated Vehicle: the Last IoT Node, M A R . 0 5 . 2 0 1 5 Source: IHS 2015 Juergen Weyer, Vice President Automotive Sales EMEA - The Intelligent Automated Vehicle: the Last IoT Node, M A R . 0 5 . 2 0 1 5 ARAÇLARDAKİ MOBİL UYGULAMALARA ÖRNEKLER Android, symbian ve windows işletim sistemli tablet, telefon ve bilgisayarlarla veriler kablo olmadan, bluetooth ile görülebilir ve düzenlenebilir. Ancak iOs işletim sisteminde kablosuz Wi-Fi özelliği kullanılır. • Android • IOs Önemli Not: Kablosuz haberleşme imkanı sağlayan mobil cihazlar ile aracın OBD soketine uyumlu Bluetooth ve Wifi teknolojilerini destekleyen OBD II tarama olarak farklı kitler bulunmaktadır. OBD II scanner kitleri için geliştirilmiş çeşitli yazılımlar bulunmaktadır. Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt Smartphones • Very sophisticated computer • Sensors GPS 3-axis accelerometer Camera Magnetometer • Carried with you all day Noah Goodall, VDOT’s Connected Vehicle Program, Virginia Center for Transportation Innovation and Research, ASHE Old Dominion Section Meeting, June 13, 2013 • DashCommand • iOBD2 • Mobilescan OBD • MD4MyCar • LogWorks • Rev • Roaders Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt Gül Türker, Araçlarda On Board Diagnostic Sistem ve Mobil Cihaz Uygulamaları, ab.org.tr/ab14/sunum/9.ppt