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“Integration of In-Vehicle Electronics for IVHS and the Electronics for Other Vehicle Systems”

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“Integration of In-Vehicle Electronics for IVHS and the Electronics for Other Vehicle Systems” U.S. Department of Transportation. National Highway Traffic Safety Administration DOT HS 808 261 March 1995 Final Report “Integration of In-Vehicle Electronics for IVHS and the Electronics for Other Vehicle Systems” This document is available to the public from the National Technical Information Service, Springfield, Virginia 22161 This publication is distributed by the U.S. Department of Transportation, National Highway Traffic Safety Adminis- tration, in the interest of information exchange. The opinions, fiidings and conclusions expressed in this publication are those of the author(s) and not necessarily those of the Department of Transportation or the National Highway Traffic Safety Administration. The United States Government assumes no liability for its contents or use thereof. If trade or manufac- turers’ name or products are mentioned, it is because they are considered essential to the object of the publication and should not be construed as an endorsement. The United States Government does not endorse products or manufacturers. Technical Report Documentation Page 1 Report No. 2. Government Accession No. 3. Recipient’s Catalog No. DOT HS 808 261 1. Title and Subtitle 5. Report Date March 31, 1995 "Integration of In-Vehicle Electronics for IVHS and the Electronics for Other Vehicle Systems” 6. Performing Organization Code 8. Performing Organization Report No. 7. Author(s) TR95019 David Lee,Robert McOmber, Ron Bruno 3. Performing organization Name and Address 10. Work Unit No. (TRAIS) Stanford Telecommunications, Inc. 1761 Business Center Dr. 11. Contract or Grant No. Reston, Va. 22090 DTNH22-93-D-07317 13. Type of Report and Period Covered 12. Sponsoring Agency Name and Address Task Order Study National Highway Traffic Safety Administration (NHTSA) Sept. 1994 through March Office of Collision Aviodance Research (OCAR) 1995 400 7th St. SW, Rm. 5301 14. Sponsoring Agency Code Washington, DC 20590 NRD-51 15. Supplementary Notes 16. Abstract The increasing sophistication of automotive electronics has prompted NHTSA to investigate the feasibility of using advanced electronics for in-vehicle Intelligent Vehicle Highway Systems(IVHS) . Specifically,OCAR wishes to find the most feasible approach to integrating in-vehicle IVHS safety systems with other in-vehicle electronic systems. Such integration could yield benefits such as reduced cost, increased functionality,and safer, more reliable vehicles. This report investigates the use of off-the-shelf automotive electronic multiplexing and networking standards and electronic bus architectures to achieve this integration. Issues addressed include whether existing standards are adequate to support the required types of interfaces and the anticipated data traffic volumes that such integrated systems would impose,and whether safety and reliability issues have been adequately addressed. A number of hypothetical in-vehicle integrated IVHS safety system architectures are proposed and evaluated against most of the currently known automotive electronic protocol standards. 7. Key Words 18. Distribution Statement Intelligent Vehicle Highway Systems, automotive electronics, automotivemulti- This document is available to the plex, automotive networks, in-vehicle public through the National safety systems,SAE 51850, CAN, automotive Technical Information Service electronic standards, automotive control Springfield, VA 22161 systems 9. Security Classif. (of this report) 20. Security Classif. (of mis page) 21. No. of Pages 22. Price Unclassified Unclassified Form DOT F 1700.7 (8-72) Reporoduction of form and completed page is authorized i TABLE OF CONTENTS SECTION PAGE 1 EXECUTIVE SUMMARY..................................... l-l 1.1 TaskOverview.............................................. l-l •’ 1.2 Task Methodology........................................... l-l 1.3 Summary of Findings......................................... l-8 1.4 Recommendations for Further Effort............................... l-10 2 GENERAL NETWORKING CONCEPTS.........................2-l 2.1 Overview.................................................. 2-l 2.2 Multiple Access Networks...................................... 2-l 2.2.1 Time Division Multiplexing..................................... 2-4 2.2.2 Random Access............................................. 2-5 2.2.3 Controlled Access............................................ 2-6 2.2.4 OS1 Reference Model......................................... 2-8 2.2.5 OSI Implementation......................................... 2-10 2.2.6 FrameStructure............................................ 2-12 2.3 Network Performance Issues................................... 2-14 2.4 Fault Tolerance and Reliability.................................. 2-17 3 AUTOMOTIVE PROTOCOLS................................ 3-l 3.1 SAE Protocol Classes........................................ 3-l 3.2 SAE Networking Standards.................................... 3-3 3.3 OEM Networking Standards.................................... 3-5 3.4 Comparison of Protocol Specifications and Performance................ 3-8 3.4.1 Physical and Logical Layer Specifications.......................... 3-8 3.4.2 Physical layer.............................................. 3-8 3.4.3 Logicallayer.............................................. 3-11 3.4.4 Message Formats............................................ 3-l1 3.4.5 Latency and Throughput....................................... 3-14 3.4.6 ISO Fault Tolerance......................................... 3-15 4 INDUSTRY PRACTICE...................................... 4-l 4.1 Standards Committees and Organizations............................4-l 4.2 Networking Standards Usage..................................... 4-l 4.3 Manufacturing Practice........................................ 4-4 4.4 Enabling Technologies......................................... 4-6 4.4.1 Sensors................................................... 4-6 4.4.1.1 Class C Sensors............................................. 4-6 4.4.1.2 Class A Sensors............................................. 4-8 31 March 1995 iii R95019.TOC NTS (Continued) SECTION PAGE 4.4.1.3 IVHS Sensors............................................... 4-8 4.4.2 Actuators.................................................. 4-9 4.4.2.1 Class CActuator........s .................................... 4-9 4.4.2.2 Class A Actuators............................................ 4-9 4.4.2.3 IVHS Actuators............................................. 4-9 . 4.4.3 Control Modules............................................ 4-10 4.4.3.1 Design and Functionality....................................... 4-10 4.4.3.2 Processors Characteristics...................................... 4-10 4.4.3.3 Memory Characteristics........................................ 4-10 4.5 Architecture Approaches...................................... 4-11 4.5;1 Existing and Near-Term Future Architectures........................ 4-11 4.5.2 Mid-Term Future Architectures.................................. 4-11 4.5.3 Long-Term Architectures...................................... 4-l 3 4.6 Manufacturing Practice....................................... 4-16 4.6.1 Electronic Systems.......................................... 4-16 4.6.2 Semiconductor Components.................................... 4-18 4.6.3 IVHS Systems............................................. 4-19 4.6.4 Software Controlled Design, Manufacturing, and Diagnostic Tools.........4-20 5 SYSTEM CONCEPTS...................................... ..5-l 5.1 Existing Vehicle Control Systems................................. 5-l 5.2 IVHS In-Vehicle Safety Systems: Overview and Assumptions...........5-13 5.3 IVHS In-Vehicle Safety Systems: System Specifications, Data Flows, and Information Needs....................................... 5-19 6 INTEGRATION OF IVHS CRASH AVOIDANCE SYSTEMS AND OTHER IN-VEHICLE ELECTRONICS......................... .......6-1 l 6.1 Overview of the Assessment Approach............................. 6-l 6.2 Assumptions...............................................s . 6-l 6.3 Assessmemt Criteria........................................... 6-3 6.3.1 Access to Candidate Network Bus................................ 6-4 6.3.2 Support for Information Sharing and Coordinated Control................6-4 6.3.3 Bus Support to Upgrades and Expansion............................ 6-4 6.3.4 Short-Term Message Error Rate, and Error Type/Distribution..............6-5 6.3.5 Data/Message Thmughput and Latency............................. 6-5 6.3.6 Network Reliability (Long-Term Failure Rate)........................ 6-6 6.3.7 Cost Factors................................................ 6-6 iv 31 March 1995 R95019.TW TABLE OF CONTENTS (Continued) SECTION PAGE 6.4 Network Scenarios for IVHS Safety System Integration.................6-6 6.4.1 Near-Term Scenarios.......................................... 6-7 6.4.2 Mid-Term Scenarios......................................... 6-17 6.4.3 Far-Term Scenarios.......................................... 6-23 7 ASSESSMENT OF IVHS CRASH AVOIDANCE SYSTEM INTEGRATION 7-l 7.1 Detailed Assessments......................................... 7-1 7.1.l NearTerm................................................. 7-l 7.1.1.1 Standalone IVHS Systems....................................... 7-1 7.1.1.2 Integrated IVHS Systems....................................... 7-9 7.1.2 Mid Term ................................................ 7-12 7.1.3 FarTerm................................................. 7-12 7.2 Summary Evaluations.......................................
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