Design and implementation of an automotive experimental platform for ADAS

104 Pages·2012·3.95 MB·English

DEGREE PROJECT IN INFORMATION AND COMMUNICATION
TECHNOLOGY,
SECOND CYCLE, 60 CREDITS
STOCKHOLM, SWEDEN 2017
Design and implementation of an
automotive experimental platform
for ADAS
VIKTOR KARLQUIST
KTH ROYAL INSTITUTE OF TECHNOLOGY
SCHOOL OF INFORMATION AND COMMUNICATION TECHNOLOGY
Design and implementation of an automotive
experimental platform for ADAS
Viktor Karlquist
MasterofScienceThesis
EmbeddedSystems
SchoolofInformationandCommunicationTechnology
KTHRoyalInstituteofTechnology
Stockholm,Sweden
3February2017
Examiner: Zhonghai Lu
Supervisor: Yuan Yao
©ViktorKarlquist,3February2017
Abstract
Roadfatalitiesaredecreasingeveryyear. Amajorreasonistheincreasedpresence
and the increased complexity of Advanced Driver Assistance Systems (ADAS).
ADASarebecomingoneofthebiggestresearchareasintheautomotiveindustry.
This thesis presents a design and implementation of an automotive experimental
platformforADAS.
The thesis provides an overview of automotive concepts related to ADAS,
suchasElectronicControlUnit(ECU),commonlyusedcommunicationprotocols
in cars and Operating Systems (OS) used for automotive purposes. In addition a
general background to ADAS is presented as well as an introduction to the state
ofthearttechnology.
The design of the platform is presented with a detailed hardware description
as well as a thorough motivation to the design choices. The design consists of
multiple ECUs connected through a switched Ethernet network with multiple
switches. The design also includes a model car equipped with actuators and
sensors,madetomimicarealcar.
Severalfunctionshavebeenimplementedinthesystemsuchasreadingsensor
data, controlling actuators and a control interface to control the car. As a proof-
of-concept platform the resulting system can be exploited and flexibly extended
forvariousADASfunctionsandsafetyengineering.
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Sammanfattning
Antaletdo¨dsolyckorminskarfo¨rvarjea˚r.Enstoranledningtilldettaa¨rdeno¨kande
fo¨rekomsten och o¨kande komplexiteten av Advanced Driver Assistance Systems
(ADAS). ADAS a¨r pa˚va¨g att bli ett av de sto¨rsta forskningsomra˚dena inom
bilindustrin. Den ha¨r masteruppsatsen presenterar en design och implementation
avenexperimentellplattformfo¨rADAS.
Uppsatsengereno¨verblickavconceptrelateradetillADAS,sa˚somElectronic
Control Unit (ECU), vanligt fo¨rekommande kommunikationsprotokoll i bilar och
Operativ System (OS) anva¨nda i bilindustrin. Dessutom presenteras en generell
beskrivningavvadADASa¨rochvadsoma¨rdensenasteteknologininomADAS.
Designen av platformen beskrivs med en detaljerat ha˚rdvaru-beskrivning
likva¨l nogranna motiveringar till designvalen. Designen besta˚r av ett flertan
ECU:erihopkoppladegenomettswitchatEthernet-na¨tverkmedmultiplaswitchar.
En del av designen besta˚r ocksa˚ av en modell-bil utrustad med sensorer och
motorer,fo¨rattefterliknaenriktigbil.
Ettflertalimplementationpresenteras,sa˚sominla¨sningavsensordata,kontroll
av motorer och ett kontrollgra¨nsnitt fo¨r att styra modellbilen. Resultatet av
uppsatsen a¨r ett fo¨rsta fo¨rso¨k till en design och implementation av en platform.
Platformena¨rettproof-of-conceptsommo¨jliggo¨rfo¨rflexiblatilla¨ggochsa¨kerhetstestning.
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Acknowledgements
I would like to acknowledge my examiner and advisers support throughout the
thesis. IwouldalsoliketothankKTHServiceCenterforassistingwithpurchases
ofcomponents.
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Contents
1 Introduction 1
1.1 Problemdescription . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 EthicsandSustainability . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Researchmethod . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Developmentmethodology . . . . . . . . . . . . . . . . . . . . . 4
1.6 Structureofthisthesis . . . . . . . . . . . . . . . . . . . . . . . 4
2 Background 5
2.1 ElectronicControlUnit . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.1 Microcontroller . . . . . . . . . . . . . . . . . . . . . . . 6
2.1.2 Microprocessor . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 AdvancedDriverAssistanceSystems . . . . . . . . . . . . . . . 7
2.2.1 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2.2 Sensorfusion . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2.3 Cooperatingvehicles . . . . . . . . . . . . . . . . . . . . 9
2.2.4 Vehicle-to-InfrastructureCommunication . . . . . . . . . 10
2.3 Autonomouscars . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 Communicationprotocolsincars . . . . . . . . . . . . . . . . . . 12
2.4.1 LIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4.2 CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.4.3 Flexray . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.4.4 Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4.4.1 CSMA/CD . . . . . . . . . . . . . . . . . . . . 15
2.4.4.2 Loop-prevention . . . . . . . . . . . . . . . . . 16
2.4.4.3 AVB/TSN . . . . . . . . . . . . . . . . . . . . 17
2.4.4.4 802.1QVLAN . . . . . . . . . . . . . . . . . . 20
2.5 Thereal-timeconcept . . . . . . . . . . . . . . . . . . . . . . . . 21
2.6 Operatingsystems . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.6.1 AUTOSAR . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.6.2 EmbeddedLinux . . . . . . . . . . . . . . . . . . . . . . 24
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CONTENTS v
2.6.2.1 LinuxReal-timeScheduler . . . . . . . . . . . 24
2.6.2.2 PREEMPT RTPatch . . . . . . . . . . . . . . 24
2.7 Relatedwork . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3 Hardwareandsoftwaretools 26
3.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.1 BeagleBoneBlack . . . . . . . . . . . . . . . . . . . . . 26
3.1.1.1 SitaraAM3358chipset . . . . . . . . . . . . . 27
3.1.2 Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.1.3 DeviceTree . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.1.4 SerialtoUSBinterface-SparkFunFTDIBasicBreakout . 32
3.1.5 RaspberryPi3modelB . . . . . . . . . . . . . . . . . . 32
3.1.5.1 RPIdedicatedcamera . . . . . . . . . . . . . . 33
3.1.6 TP-linkTL-SG105ENetworkSwitch . . . . . . . . . . . 35
3.1.7 ModelCar . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.1.7.1 Servomotor . . . . . . . . . . . . . . . . . . . 38
3.1.7.2 Brushlessmotor . . . . . . . . . . . . . . . . . 38
3.1.7.3 ESC . . . . . . . . . . . . . . . . . . . . . . . 39
3.1.8 Androiddevice . . . . . . . . . . . . . . . . . . . . . . . 39
3.1.9 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.1.9.1 UltraSonicSensor,HC-SR04 . . . . . . . . . 39
3.1.9.2 Reflectivesensor,OPB715ZOPTOSWITCH . 40
3.1.9.3 Motionsensor,MPU-9250 . . . . . . . . . . . 40
3.2 OperatingSystem . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.2.1 Linux4.4-ti-rt . . . . . . . . . . . . . . . . . . . . . . . . 41
3.2.2 Linux4.4-rt . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.3 Softwaretools . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.1 Wireshark . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.2 Androidstudio . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.3 config-pin . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.4 Cyclictest . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.3.5 TIPRUCcompiler . . . . . . . . . . . . . . . . . . . . . 43
3.3.6 DeviceTreeCompiler . . . . . . . . . . . . . . . . . . . 43
4 Design 44
4.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.1.1 ECUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.1.2 Networkswitches . . . . . . . . . . . . . . . . . . . . . . 45
4.1.3 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.1.4 Modelcar,actuatorsandelectronics . . . . . . . . . . . . 46
4.1.5 Androiddevice . . . . . . . . . . . . . . . . . . . . . . . 47
CONTENTS vi
4.2 ChoiceofOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.3 Overviewofthesystemarchitecture . . . . . . . . . . . . . . . . 48
5 Implementations 52
5.1 CarnetworkandECUtoECUcommunication . . . . . . . . . . . 52
5.2 ImplementingtheOS . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2.1 BeagleBoneECU . . . . . . . . . . . . . . . . . . . . . . 54
5.2.2 RaspberryPiECU . . . . . . . . . . . . . . . . . . . . . 56
5.3 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3.1 UltraSonicsensor . . . . . . . . . . . . . . . . . . . . . 56
5.4 Controllingactuators . . . . . . . . . . . . . . . . . . . . . . . . 59
5.4.1 Steeringservo . . . . . . . . . . . . . . . . . . . . . . . . 59
5.4.2 ESC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.5 Networkmonitoring . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.6 Controlandmonitoringinterface . . . . . . . . . . . . . . . . . . 62
5.6.1 AndroidApp . . . . . . . . . . . . . . . . . . . . . . . . 63
5.6.2 UDPserver . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.7 Errordetection . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6 Conclusions 69
6.1 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.1.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.2 Futurework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.2.1 Addingadditionalsensors . . . . . . . . . . . . . . . . . 70
6.2.2 Sensorfusion . . . . . . . . . . . . . . . . . . . . . . . . 71
6.2.3 ImplementfullAVB/TSNsupport . . . . . . . . . . . . . 71
6.2.4 Errordetection . . . . . . . . . . . . . . . . . . . . . . . 71
6.2.5 Benchmarks . . . . . . . . . . . . . . . . . . . . . . . . . 72
6.2.6 Creatingtestscenarios . . . . . . . . . . . . . . . . . . . 72
6.2.7 CreatinganAPIforexternalcommunication . . . . . . . 73
6.2.8 Improvingthecontrolandmonitoringinterface . . . . . . 74
Bibliography 75
A Code 85
List of Figures
2.1 SensorsandElectronicsinADAS,from[1] . . . . . . . . . . . . 8
2.2 Flexraysegments,takenfromNationalInstruments[2]. . . . . . . 14
2.3 Exampleofabroadcaststorm,from[3,Chapter8] . . . . . . . . 16
2.4 Credit-basedshaperalgorithm,from[4] . . . . . . . . . . . . . . 19
2.5 An overview of AUTOSAR ECU Software Architecture, take
from[5] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1 TheBeagleBoneBlackboard,takenfrom[6] . . . . . . . . . . . 27
3.2 ProgrammingthePRU,imagetakenfrom[7] . . . . . . . . . . . 29
3.3 PRU-ARMmessagepassing,takenfrom[8] . . . . . . . . . . . . 31
3.4 TheRaspberryPi3ModelBboard,takenfrom[9] . . . . . . . . 33
3.5 TheRaspberryPiCameraModulev2,takenfrom[10] . . . . . . 34
3.6 TheTP-linkTL-SG105Enetworkswitch,takenfrom[11] . . . . . 35
3.7 Turnigy SCT 2WD 1/10 Brushless Short Course Truck (KIT)
upgradedversion,takenfrom[12] . . . . . . . . . . . . . . . . . 36
3.8 Controllingaservomotor . . . . . . . . . . . . . . . . . . . . . . 38
3.9 TheHC-SR04isadistancesensor,takenfrom[13] . . . . . . . . 40
3.10 pfifo fastqueuingpolicy,takenfrom[14]. . . . . . . . . . . . . . 41
4.1 Networktopology . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.2 Exampleofbrokenlink . . . . . . . . . . . . . . . . . . . . . . . 49
4.3 Overviewofthesystemarchitecture . . . . . . . . . . . . . . . . 50
5.1 Ultrasonicsensoralgorithm . . . . . . . . . . . . . . . . . . . . . 57
5.2 Voltagedividingcircuit . . . . . . . . . . . . . . . . . . . . . . . 59
5.3 Servocontrolalgorithm . . . . . . . . . . . . . . . . . . . . . . . 60
5.4 Networkmonitoringprogram . . . . . . . . . . . . . . . . . . . . 62
5.5 Androidapplicationlayout . . . . . . . . . . . . . . . . . . . . . 63
5.6 PackagestructureofpacketsentfromAndroidApplication . . . . 64
5.7 ServerreceivingcommandsfromtheAndroidApplication . . . . 65
5.8 Packagestructureofthedatasentcontainingstatus . . . . . . . . 66
5.9 Mutexexample . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
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