FZI Forschungszentrum Informatik - MSDL

FZI 

Forschungszentrum Informatik 

an der Universität Karlsruhe 

HLSLA‘07, 14-January-2007 

„Supporting system level design 

of distributed electronic control units 

for automotive applications“ 

Prof. Dr.-Ing. Klaus D. Müller-Glaser 

Universität Karlsruhe, Institut für Technik der Informationsverarbeitung (ITIV) 

Dr.-Ing. Clemens Reichmann, Markus Kuehl 

Aquintos GmbH 

Copyright © 2006 FZI Karlsruhe kmg

Characteristics: distributed, mechatronic, hard real time 

Hydraulic 

Brake System 

76 ECUs 

> 100 el. Motors 

> 2000 m wires 

Software 

is part of 

ECU 

ECU’s are part of 

mechatronic systems for 

measurement and control 

Copyright © 2006 FZI Karlsruhe Benz kmg

Complex Communication (e.g. Audi A8) 

Courtesy Volkswagen/Audi 


Complex Communication (e.g. Audi A8) 

4 application domains for ECUs: 

ower train: mainly closed loop control functions 

hassis control: mainly closed loop control functions 

ody electronics: mainly reactive, event driven functions 

nfotainment: mainly reactive, event driven functions 

software intensive >>100k LOC 

Courtesy Volkswagen/Audi 


Electrics/Electronics in a car 

Scheinwerfer 

rechts: 

ABL, FL, PL, 

NSW, BL 

Scheinwerfer 

links: 

ABL, FL, PL, 

NSW, BL 

Getriebeölkühler 

Signalhorn 

SLP 

Kompressor 

Luftfederung 

Starterrelais 

Waschwasserheizung 

Waschwasserpumpe 

SRA 

Waschwasserstand 

Kühlwasserstand 

EDW-Motorhaubenkontakt 

Klemme 61 

Motordrehzahl 

Kühlwassertemp. 

E-Sauglüfter SG 

EDW-Horn/EDW-Sirene 

Magnetkupplung 

Kältekompressor 

Magnetventil 

Rückförderpumpe 

Außentemperatur 

Kältemitteltemperatur 

Kältemitteldruck 

M 

M 

M 

M 

(1) Bedien- und Anzeigeteil für Radio/OMS (SA) 

Innenraum-CAN (Class B) 

Motor-CAN (Class C) 

KIN 

seitl. Blinkleuchte 

BBV 

Wischer 

BBV 

DVL 

M 

seitl. Blinkleuchte 

Serielle Schnittstelle 

Zusatzwasserpumpe 

DUO-Taktventil 

M 

EGS 

ME 2.0 / CR 

Ventilleiste 

Innengebläse 

Wischerablagenheizung 

SAM/B mit 

SRB/B 

Kombi 

SAM/F mit 

SRB/F 

KL30 ges. 

KL15 

KL15R 

geschaltete 

Verbraucher 

Signale 

LF/ ABC (SA) 

ASR/ESP 

Bremsfl.-Stand 

Spiegelverstellung 

mit Memory 

FH-Schalter 

M 

M 

Innenspiegel 

Sternpunkt 

OBF 

KL15R 

EZS 

KL15 

M 

Tür-SG vorne 

rechts 

KLA 

MantelrohrmodulLenkwinkelsensor 

Bremslichtschalter 

Ausstiegsleuchte 

Mantelrohrverstellung 

mit Memory 

Tempomatsch. 

Lenkstocksch. 

MFL 

Lichtdrehsch. 

Diagnosedose 

(OBD II-Connector) 

HAS 

- SH-Schalter, SBlft-Schalter 

- Sitzverstellschalter Sitz 

vorne rechts 

FH-Motor 

M 

mit ÜKB 

LWR 


Tür-SG vorne 

links 

UBF 

EWM 

Sitz SG vorne 

links mit 

Memory 

- Magnetventil Zuziehhilfe 

- Antriebssperrklinkenschalter 

- Schloßnußtaster 

SN1 u. SN2 

Sitzverstellschalter Sitz hinten rechts 

u. vorne rechts 

- IR-Empfänger SH-Schalter 


SBlft-Schalter 


FH-Schalter 

Tür-SG hinten 

Türkontakt 

rechts 

M 

FH-Motor 

mit ÜKB 

BBV 

vorne rechts 


SHD-Motor M 

Türkontakt 

vorne links 

Fond- 

KLA 

(SA) 

Gutschloß 

vorne links 

Innentemperatur 

Innenraumschutz 

(2x) 

Tür-SG hinten 

links 

Spiegelverstellung 

mit Memory 

M 

M FH-Motor 

- Sitzverstell- 

mit ÜKB 

schalter Sitz vorne links 

- SH-Schalter, SBlft-Schalter 

- Schloßnußtaster 

SN1 u. SN2 

- IR-Empfänger 


SH-Schalter 

Sitzverstellschalter 

Sitz hinten links 

SBlft-Schalter 

- FH-Schalter (4-fach) mit KiSi u. HFE 

- Spiegelverstellschalter 


M 

MKL vr (SA) 

KL30 ges. 

ART (SA) 

Gutschloß 

vorne rechts 

ZVgeschaltete 

Verbraucher 

KL87 ges. 

Verstellmotoren für: 

Höhe vorne, 

Höhe hinten, 

M 

Längspos., Sitzkissentiefe, 

Lehne, Kopfstütze 

Sitz-SG vorne 

rechts mit 

Memory 

Sitzheizung 

Sitzbelüftung 

Innenbeleuchtung 

Pumpe 

Sitz-SG 

hinten (SA) 

(KL15) 

Funkempfänger 


Signale 

EDW-Handschuhkastenkontakt 

DBE 

Sitzhei- 

Regensensor 

zung 

(1) 


Längspos., Höhe, 

Kopfstütze (je 2x) M 

Sitzheizung 



Höhe vorne, Höhe hinten, 

Längspos., Sitzkissentiefe, 

Lehne, Kopfstütze 

MKL 

vl (SA) 

MKL 

hinten (SA) 

SAM/H mit SRB/H 

Türkontakt 

hinten rechts 

KL30 ges. 

geschaltete 

Verbraucher 

Signale 

PTS (SA) 

Sternpunkt 

Türkontakt 

hinten links 


FH-Motor 

M mit ÜKB 

FH-Schalter 



Gurtschloß 

hinten rechts 

diskrete Leitungen 

(eine oder mehrere) 

Keyless 

Go (SA) 

MSS (SA) 

Deckenleuchteneinheit Fond 

Display PTS (SA) 

Gurtschloß 

hinten mitte 

RDK (SA) 

TSA (SA) 

Gurtschloß 

hinten links 

Klemme 30 ungesichert 

KSA rechts 

KSA mitte 

KSA links 

SBS 

EDW-Tankdeckelkont. 

Tankfüllstandsgeber 

EDW-Neigungsschalter 

Heizbare Heck- 

Scheibe 

Heckrollo 

Tel/S/E 

Arthur 

CD 

Batterie 

+ - 

Soundsystem 

Magnetventil/ 

Zuziehhilfe 

Antriebssperrklinkenschalter 

Blinker 

Schlußlicht 

Rückfahrlicht 

Bremslicht 

Schloßnußtaster 

SN1 u. SN2 

Heckdeckelöffnungstaster 

AAG (SA) 

HeckdeckelkontaktEDW-Kofferraumkontakt 

Kennzeichenbeleuchtung 

3. Bremsleuchte 

Schlußlicht 

Bremslicht 

Nebelschl. 

Rückfahrlicht 

Blinker 

Anhängererkennung 


Hierarchical Organization of Design Processes 

Mechatronic 

Vehicle 

System 

Electronic 

Control 

Unit (HW) 

Embedded 

Realtime 

Software 

+ 

+ 

- 

Car program 

requirements 

Emission laws 

Strategic 

requirements 

System 

Specification 

10s + 10 

s+5 

System 

Simulation 

HW 

Design 

Development of 

Control Algorithms 

and Onboard 

Diagnostics 

Specification and Design Manufacturing Service 


HW /SW 

Specification 

HW 

Simulation 

Autocode 

Prototyping 

Prototype 

Development 

Prototype 

Assembly 

SW 

Coding 

Calibration 

Vehicle 

Validation 

Design 

Verification 

Static and 

Dynamic Test 

Release to 

Manufacturing 

Release to 

Manufacturing 

void main() 

{...} 

void initialization() 

{...} 

static void control (input, states, output) 

{...} 

Manufacturing 

Manufacturing 

Functional 

Test 

Functional 

Test 

Service 


Hierarchical Organization of Design Processes 

Mechatronic 

Vehicle 

System 

Electronic 

Control 

Unit (HW) 

Embedded 

Realtime 

Software 

+ 

+ 

- 

Car program 

requirements 

Emission laws 

Strategic 

requirements 

System 

Specification 

System 

Simulation 


HW /SW 

Specification 

Prototype 

Development 

Calibration 

Vehicle 

Validation 

Release to 

Manufacturing 

Manufacturing 

Functional 

Test 

HW 

HW 

Prototype Design Release to 

Functional 

Design Simulation Assembly Verification Manufacturing Manufacturing Test 

distributed between OEM void main() and supplier 

{...} 

10s + 10 

s+5 


Control Algorithms 

and Onboard 

Diagnostics 

Specification and Design Manufacturing Service 

multiple 

interleaving design processes 

Concurrent Engineering 

Autocode 

Prototyping 

SW 

Static and 

Coding Dynamic Test 

requires 

void initialization() 

{...} 

static void control (input, states, output) 

{...} 

strictly controlled design methodology 

supporting computer aided design tools 

model based design 

Service 


Model Based Design - graphical descriptions preferred 

Closed Loop Control 

Reactive Systems 

Performance Analysis 


Typical Design Flow 

HW/SW-Requirements Analysis 

Preliminary HW/SW-Design 

HW-Architecture, SW-Architecture 

HW/SW-Implementation 

Integration 

-Modules, Data Dictionary, SW-Comp 

HW-Component, HW-Module 

HW-Realization Documents 

& 

& 

Interface Description 

& 

& 

Idea System-Analysis 

executable Specs 

PROCESS (schlupf, state) 

BEGIN 

CASE state IS 

WHEN freilauf => 

IF schlupf > 0 THEN 

next_state

MiL, SiL, RP, HiL, Test 

Model 

Validation 

Testpattern 

Implementation 

Validation 

Simulated 

ECU 

Rapid 

Prototyping 

Real 

ECU 

MiL Model-in-the-Loop 

SiL Software-in-the-loop 

RP Rapid Prototyping 

HiL Hardware-in-the-Loop 

Test 

Simulation 

Real Applicat. 

Simulated 

Environment 

Hardwarein-the-Loop 

Real 

Environment 

Modeling 

Meas.data 

Test 


Modeling 

Modeling for complete system including system environment 

(ECU, car, driver, road, weather conditions) 

Domain specific models for Subsystems and Components 

(closed loop control, reactive systems, software intensive systems) 

Different abstraction levels, Parameter variation and boundaries 

(functional and non-functional data for early design space exploration) 

Use of characterized libraries (reuse, variant design) 

Model verification through extensive testing 

Model characterization 

Model documentation 

Macro modeling 

Meta modeling 


Challenges for Modeling 

Domain Specific Modeling Languages 

Model Synthesis 

Model Validation 

Model Transformation 

Executable Models 

Automatic Generation of Product Artefacts 

Meta-Modeling 

Tools on Meta-Model-Level 

Integration of Domain Specific Tools 

on Meta-Level 

Generic Modeling-Platforms 


Modeling for heterogeneous electronic embedded systems 

Architecture and Software 

Modeling with UML 

BatchController 

outputBuffer 1 

Buffer::Buffer Buffer 

Processor 

SocketListItem 

1 

* SocketListItem 

inputBuffer 

Real-time Studio (ARTiSAN) 

Rhapsody in C++ (i-Logix) 

Rose (Rational Software, IBM) 

Together (Borland) 

Poseidon (Gentleware) 

MagicDraw (NoMagic) 

Ameos (Aonix) 

TAU2 (Telelogic) 

Event driven 

Modeling with state charts 

[myCondition] 

Idle Sending Waiting_For_Repeat 

evAck /Action1() 

Rhapsody in C++ (i-Logix) 

Statemate (i-Logix) 

Stateflow (The MathWorks) 

ASCET (ETAS) 

evRepeat 

Waiting_For_Ack evBusy 

Signal flow oriented 

Modeling with block diagrams 

MATLAB/Simulink (The MathWorks) 

MATRIXx (National Instruments) 

ASCET (ETAS) 

Heterogeneous modeling requires integration platform 

e.g. ETAS Integrio, Vector DaVinci 


ITIV/FZI Tool integration platform (model transformation) 

MATLAB 

Simulink 

XMI 

Template 

UML Coder 

C++ 

MDL 

GeneralStore CASE-Tool Integration Platform 

JAVA 

MATLAB 

Stateflow 

Matlab/Wrapper 

Matlab Wrapper 

Generator 

JAVA 

Matlab/Wrapper 

Matlab 

Generator Automation 

DCOM 

Matlab 

Embedded Coder 

C 

ARTiSAN 

AONIX 

Together 

JAVA 

Statemate Wrapper 

Generator 

Compiler / Linker / Make 

Target platforms (RTOS) 

MagicDraw 

Poseidon 

Rhapsody 

MDL XMI 1.0, XMI 1.1, XMI 1.2 

JAVA 

Rhapsody in 

MicroC 

automation 

XMI 

MicroC 

C 

Statemate 

new challenge 

Rose 

XMI2XX 

other 

commercial 

code generators 

CG-Adaptor 

... 

generator 

C/C++ 

Model Data 

MySQL, ORACLE 

SQL 

JAVA 

Target-Monitoring 

Model Debugging 

Test 


Meta-Modeling 4 Abstraction Layers (OMG standard) 

bstract M3 layer MOF 

real 

M2 layer UML 1.4 UML 1.5 MATLAB 

Simulink 

M1 layer UML 

Model 

M0 layer Objects Data 

Real artefacts 

Simulink 

Model 

Source 

code 

Statechart 

(D. Harel) 

Statechart 

Model 


Model Transformation: M2M Engines Architecture 

 

Source-Metamodel 

Source Model 

Tool A 

Rule4 

Rule3 

Rule2 

Rule1 

LHS RHS 

Instance of Instance of 

Rule-Model 

UML 

Target-Model 

Tool B 

Importer Transformator Exporter 

 

Target-Metamodel 


LHS 

Transformation Rules UML -> Simulink 

Realization Elements 

sender : Class 

participant-association 

ae1 : AssociationEnd 

isNavigable = =false 

connection-association 

source : AssociationClass 

association-connection 

ae2 : AssociationEnd 

isNavigable = =tr ue 

association-participant 

receiver : Class 

R121_AssociationClass 

root : SLSystem 

: SLBlock 

receiver : SLSystem 

x_Inport : SLBlock 

name = ae2.name+"_In" 

blockType = >Inpor t 

RHS 

x_Line : MDLElement, SLLine 

dstPort = Utility::countInports2(receiver) 

srcPort = Utility::countOutports2(sender ) 

elementID 

elementName = sender.name+"_to_"+receiver.name 

inDemux : MDLElement, SLLine 

srcPort = >1 

dstPort = >1 

elementName = source.name 

elementID 


syste m-sy ste mE l em ent 

sy st em-sy st e mE l e m e nt 

: SLBlock sender : SLSystem 

syste m-syste mE l e m e nt 

srcBlock-srcBlockLine block-blockElement 

srcBlockLine-srcBlock 

sy st em-sy st e mE l e m e nt 

system-systemElement 

x_Outport : SLBlock 

name = ae1.name+"_Out" 

blockType = >Outport 

dstBlock-dstBlockLine 

dstBloc kLine-d stBlock 

block-blockElement 

system -system El eme nt 

srcBlock-srcBlockLine 

system -system Ele men t 

owner-attribute 


muxOut : MDLElement, SLLine 

srcPort = >1 

dstPort = >1 

elementName = source.name 

elementID 

rPorts : MDLElement, MDLString 

value = "[1, "+Utility::getAllAttributesSize(source)+"]" 

elementName = >Ports 

elementID 


demux : SLBlock 

blockType = >Demux 

name = source.name 

mux : SLBlock 

blockType = >Mux 

name = sour ce.name 

outPortPos : MDLElement, MDLString 

value = Utility::getPositionOfOutport(sender, ae1, 700, 60) 

elementName = >Position 

elementID 

inPortPos : MDLElement, MDLString 

value = Utility::getPositionOfInport(receiver, ae2, 50, 60) 


elementID 

dstBlockLine-dstBlock 

AssociationClass 

{javax.jmi.substituteName=UmlAssociationClass} 

+r121a_AssCls() 

+r121_AssociationClass() 

system-systemElement 

sPorts : MDLElement, MDLString 

value = "["+Utility::getAllAttributesSize(source)+", 1]" 

elementName = >Por ts 

elementID 




o wner-attribu te 


rShowName : MDLElement, MDLString 

value = >on 

elementName = >ShowName 

elementID 

posMux : MDLElement, MDLString 

value = Utility::getPositionOfOutportMux(sender, ae1, 620, 60, Utility::getAllAttributesSize(source)) 


elementID 

owner-a tt ri but e 

sShowName : MDLElement, MDLString 

value = >on 

elementName = >ShowName 

elementID 

posDemux : MDLElement, MDLString 

value = Utility::getPositionOfInportDemux(receiver , ae2, 160, 60, Utility::getAllAttr ibutesSize(sour ce)) 


elementID 


Tools Chains used at ITIV/FZI 

dSPACE 

TargetLink 

OSEK/VDX 

MPC555 

TriCore 

MATLAB/Simulink 

ALTERA 

DSP-Builder 

Mentor Graphic, Protel DXP u.a. 

VHDL / Verilog 

Mentor Graphics u.a. 

ALTERA 

Quartus-II 

ALTERA 

Stratix 

Xilinx 

System 

Generator 

Xilinx 

ISE 5.2 

Xilinx 

Virtex-2/Pro 

Statemate 

R-in-uC 

OSEK/VDX 

MPC555 

TriCore 

UML-Tools 

C-Code VHDL-Code VHDL-Code C-Code C/C++-Code 

CG 

uC/OS 

MPC555 

AT91 


Tools used for ECU design 

specification support (Doors, QFD/Capture) 

reactive systems (SDL, Stateflow, Statemate) 

closed loop control systems (ASCET-SD, Matlab/Simulink, MatrixX) 

software systems (Real-time Studio, Rhapsody in C++, 

Rose, Together, Poseidon, MagicDraw, 

Ameos TAU2) 

performance analysis (SES/Workbench, Foresight) 

tolerance analysis (Rodon) 

rapid prototyping, HiL (dSPACE, ETAS, IPG, Quickturn) 

application, test, diagnosis (ETAS, Hitex, Vector, RA) 

C-Verifier (PolySpace) 

ASIC Design (Cadence, Mentor, Synopsys) 


Distributed ECU’s in cars - design challenges 

Still increasing complexity (more comfort and safety functions coming) 

number of ECU’s must not increase, should decrease! 

less, but more powerful HW platforms (8, 16, 32-bit µC) 

eventually new, more flexible architectures 

(e.g. dynamically reconfigurable?!) 

requires redistribution (mapping) of software onto fewer hardware platforms 

Today’s E/E architecture in a car is characterized by an assembly of 

(too) many locally optimized subsystems 

Only OEM can go for global optimum 

new system level design exploration tools are required 


Requirements for new system level tools 

Model based design as a basis. 

Is accepted in research and predevelopment, not yet standard 

in ECU development 

Design space exploration means 

distribution of hardware and software under consideration of 

sensor/actuator locations 

computation performance as well as communication performance 

Co-design not only for hardware and software but also 

function, safety, security 

Metrics and parameters used are domain specific 

therefore, domain specific system level tools are required 

interfacing seamlessly with component specific tools (meet in the middle). 

A lot of model transformations are required 


Top-Down-Design 

Abstraction Layers 

List of Features 

Feature Function Network 

Functions Network 

Components and Networking 

Topology 

FL 

FFN 

FN 

KN 

TOP 

Bottom-Up-Design 

Which features? 

What is the concept 

behind the features? 

How do they interact? 

Detailed Specification of 

Functions architecture 

Comp. Architecture 

Network Infrastructure 

Power Distribution 

Topology 

wiring harness 


Abstraction Layers 

Typical domain specific views 

Features 

Functions 

Components 

Component locations and wiring 

Design space exploration 

needs domain specific metrics 

and parameters 


EE-Architecture Concept Tool (www.aquintos.com) 

Graphical Editors 

Variants Management 

Excel 

Word 

Documentation 

Analysis, 

Metrics 

Model-Data Backbone 

Mulit-User (DBMS) / Single-User (XML-File) 

E³.cable 

MySQL® Oracle® 

Microsoft EXCEL 

Telelogic Doors 

Simulink u.w. 

Open API & M2M 

Tool-Framework for Development 

using Eclipse-Basis 

Extendability 

Open API 

Supports Model Exploration 

Model Management 

Multi-User (Database) 

Single-User (File-based) 

Variant Management 

Kernel based on 

pure:systems Technology 

Export / Import Filters 

DBC 

FIBEX 

KBL 

MATLAB/Simulink 

UML ARTiSAN Studio 

Report Generation 

BIRT Technology 

User Configurable Reports 

Metric-Interface 

Python, alternative Java API 


Conclusion (1) 

• What system level tools should provide 

Documentation (readable for men, specific for application domain) 

Data exchange between all designers across company boundaries 

Data exchange between computer aided tools supporting distributed 

databases 

Intellectual Property, reusable in libraries 

Parameterized for variant design 

Supporting standards and guidelines (e.g. HIS, Autosar) 

Testable (Fault models, automatic Model validation), quality assured 

(automatic generation of test pattern and test bench) and documented 

(what is modeled, but also what is not modeled) 

Seamless in design flow 

(Analysis, Design, Verification, Integration, Validation, Test, Application, 

Diagnosis) 

Reviews, Rule Checking, Simulation, Formal Verification, Model Checking 

Synthesis, automatic, interactive optimizing (e.g. RP-Code, Production Code) 

allow access for automatic parameter-extraction 



Design studies show: 

• Model based methodologies and tools are well performing and promising 

• Seamless design flow only partially given (e.g. digital hardware, software). 

• Interfaces for Modeling, Simulation, Characterization mostly manual 

• hard problem for design of embedded systems 

Cross sensitivity of Components (insufficient characterization) 

Safety, Security, Function-Codesign 

According modeling is really time and cost consuming 

Mixed-Mode, Multi-Level-Simulation required 

Formal Verification und Validation not possible?! 

• Non functional requirements 

• Time-, frequency- und parameter-domain 

Module / System-Integration und –Test 

Cross-sensitivities, EMC, Certification 



Model based system design is possible and very promising, 

tools like Matlab/Simulink/Stateflow are essential 

however, there are many design and analysis steps still missing, 

especially in early system design phases: 

design space exploration 

heterogenous system level modeling and simulation 

model checking, abstract interpretation 

code generation for RP and for production 

test program generation 

connection to 3D mechanical design (mechatronic) 

connection to life cycle product data management systems 


Questions 

Thank you very much 

for your attention

FZI Forschungszentrum Informatik - MSDL

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