Embedded Automotive System Development Process

Embedded Automotive System Development Process
Steer-By-Wire System
Joachim Langenwalter
[email protected]
The MathWorks
The development methods include:

Abstract 1. Behavioral Modeling
Model based design enables the automatic 2. Detailed Software Design
generation of final-build software from models 3. Distributed Architecture Design
for high-volume automotive embedded 4. Production Code Generation
systems. 5. Embedded Target Integration
This paper presents a framework of
processes, methods and tools for the design The V&V methods include:
of automotive embedded systems. A steer-by- 1. Simulation and Analysis
wire system serves as an example. 2. Rapid Prototyping
3. Model Testing and Coverage
Process 4. Code Tracing and Reviews
Model-based design supports the needs of 5. Hardware-In-the-Loop (HIL) Testing
controls/DSP systems engineers and software
developers by providing a common The Integral methods include:
environment for graphical specification and 1. Source Control Interface
analysis. In this process, models are made 2. Requirements Management Interface
and used to specify system data, interfaces, 3. Report Generation
feedback control logic, discrete/state logic,
and real-time behavior.
A common way to view a software process is Behavioral Modeling

through use of the V diagram. The diagram Models are used for specifying requirements
corresponds to most engineering processes, and design for all aspects of every individual
however, the process is iterative with many subsystem (e.g. steer-by-wire in Figure 1 and
repetitive steps throughout the development 2).
life cycle.
A typical system includes:
The software process in this diagram is x Inputs (e.g., steering wheel sensors)
comprised of the following: x Controller or DSP Model
x Development (Requirements, Design, x Plant Model (DC motor, rack and
Coding, Integration) pinion, wheels )
x Verification and Validation (V&V) x Outputs (change of direction)
x Integral (Software Configuration
Management, Requirements As shown, a system model can be created to
Traceability and Documentation) represent the desired behavior using control
system block diagrams for feedback control,
Methods & Tools state machines for discrete events and
Model-based design methods are employed conditional logic, and DSP blocks for filters.
during the software engineering process.
Proceedings of the Design, Automation and Test in Europe Conference and Exhibition (DATE’05)
1530-1591/05 $ 20.00 IEEE
Simulation and Analysis Model Testing
The model is executed and analyzed to It is more beneficial to test the model on a
ensure that the requirements are satisfied, desktop rather than deploy it on hardware for
using methods such as time- or event-based build and integration. Source code-based
simulation and frequency domain analysis. testing has existed for many years, but recent
methods now allow for model testing and
structural coverage.
Figure 1: Steer-By-Wire system

Figure 3: Coverage for power management
design in Fig. 3
ECU Production Code Generation

FlexRay
Now that the model has been verified and
ECU
ECU
validated, it is time to generate code
ECU
ECU
automatically from the model.
ECU
Hardware-In-the-Loop Testing
ECU
Once the controller has been built, a series of
open- and closed-loop tests can be performed
with the real-time plant model in the loop.
Figure 2: Steer-By-Wire system with fault
tolerant redundant bus system (FlexRay) Integral Components
Most software standards require traceability of
Rapid Prototyping
requirements, perhaps originating in other
Due to inaccurate plant models and requirements tools, throughout development.
insufficient processing power rapid
prototyping is highly useful because it Conclusion
replaces the plant model with the physical Major software evolutions occur when the full
plant. software engineering process activities are
supported. Improving bits and pieces alone is
insufficient.
Detailed Software Design
With model-based design, the same model [1] "Software considerations in airborne
used for algorithm specification and validation systems and equipment certification,"
is refined and constrained by the software RTCA/DO-178B, RTCA Inc., Dec. 1992
engineers as part of the production code [2] Dr. Michael von der Beeck, ARTIST
generation process. Industrial Seminar, Paris, 23.4.2002
[3] Paul Yih, Jihan Ryu, J. Christian Gerdes,
Modification of Vehicle Handling
Characteristics via Steer-by-Wire, Dept. of
Mechanical Engineering, Stanford University
Proceedings of the Design, Automation and Test in Europe Conference and Exhibition (DATE’05)
1530-1591/05 $ 20.00 IEEE

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Embedded Automotive System Development Process

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Embedded Automotive System Development Process

The development methods include:

A common way to view a software process is Behavioral Modeling

Figure 1: Steer-By-Wire system

ECU Production Code Generation

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