Automotive Embedded System STRIVING FOR VEHICLE AUTONOMY

Dr. K.Rathnakannan, M.E., Ph.D., PDF( Erasmus Fellow)

Associate professor
Professor in- charge: Embedded System Technologies
Department Of Electrical & Electronics Engineering
College of Engineering, Guindy
Anna University, Chennai-25

Email: [email protected]
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Embedded Systems

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 Embedded System?
• Engineering systems that could contain small components that are
design to perform specific engineering functions

Tiny, integrated, self-aware, stand-alone products, that can …

Components of Embedded Systems

Memory Controllers Interface

Software

Processor
Coprocessors

ASIC

Converters

Analog Digital Analog

Characteristics of ES

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 Real-Time Applications of ES
• A real-time system consists of tasks under deadline constraints
– notion of time typically is global and “physical”
• Hard real-time versus soft real-time systems
– in hard real-time systems, the tasks must complete by specified
deadlines: flight control, collision alert.
– in soft real-time systems, task execution may go beyond specified
deadlines without catastrophic failures, may also be timed-out: display
updates, connection establishment.
• Hard real-time systems are more often embedded
– dedicated applications.

AU 6
 A “Short List” of Embedded Systems
Applications
• Anti-lock brakes Fingerprint identifiers
• Auto-focus cameras Home security systems
• Automatic teller machine Medical testing systems
• Automatic toll systems Modems
• Automatic transmission MPEG decoders
• Avionic systems Network cards
• Battery chargers Network
switches/routers
• Camcorders Pagers
• Cell phones Photocopiers
• Cell-phone base stations Printers
• Cordless phones Scanners
• Cruise control Stereo systems
• Digital cameras TV
• Disk drives VCR
• Electronic card readers Video game controllers
• Electronic toys/games Video phones
• Fax machines Washers and dryers
EST- Applications in
Automotives

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A typical real-time embedded system

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 Car example
• Mission: Reaching the destination safely.

• Controlled System: Car.

• Operating environment: Road conditions.

• Controlling System
- Human driver: Sensors - Eyes and Ears of the driver.
- Computer: Sensors - Cameras, Infrared receiver, and
Laser telemeter.

• Controls: Accelerator, Steering wheel, Break-pedal.

• Actuators: Wheels, Engines, and Brakes.

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 Car example (contd)

• Critical tasks: Steering and breaking.

• Non-critical tasks: Turning on radio.

• Cost of fulfilling the mission → Efficient solution.

• Reliability of the driver → Fault-tolerance needs to be

considered.

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 Timeliness requirements
• Example: inflation of an air bag
– real-time  fast
– real time: fulfill specific timing requirements

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 Timeliness requirements
• Example: Software controlling the
deployment of airbags has 15 to 40
milliseconds to determine which and in what
order to activate
• Specification:
– Lower and upper bounds on the response time
• Metrics:
– Worst-case response time
– Tardiness
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 Pre-crash system
• Reduce severity of head-to-tail crash

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 Pre-crash system
Collision avoidance zone
• Stage 1 (~2.6s to impact):
– Provide visual and audible collision warning
• shine lights and sound
• Stage 2 (~1.6s to impact):
– Automatically initiate partial braking at 4m/s2
– Move the front passenger seat to safe position
• Height, fore/aft adjustment, backrest angle
• Inflate air-chambers inside seat for better support
– If skidding: close front windows and sunroof
• Stage 3 (~0.6s to impact):
– Tighten the seatbelts (e.g. fire pyrotechnics or pulleys)
Damage
– Prepare airbags mitigation zone
for deployment
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 Pre-crash system
• Relies on several subsystems
– Radar for detecting potential collision
– Anti-lock Braking System to apply partial
braking
– Traction Control to identify if skidding
– Window Control System to close windows
–…

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 EEMS
• The Embedded processors determines the amount of fuel to inject
based on a number of sensor readings. Oxygen sensors tell the
ECU whether the engine is running rich (too much fuel or too little
oxygen) or running lean (too much oxygen or too little fuel) as
compared to ideal conditions (known as stoichiometric).
The throttle position sensor tells the ECU how far the throttle plate
is opened when the accelerator (gas pedal) is pressed down. The
mass air flow sensor measures the amount of air flowing into the
engine through the throttle plate. The engine coolant temperature
sensor measures whether the engine is warmed up or cool. If the
engine is still cool, additional fuel will be injected.

• If the ECU has control over the fuel lines, then it is referred to as
an electronic engine management system (EEMS).
 Control of variable valve timing

• Some engines have variable valve timing.

In such an engine, the ECU controls the
time in the engine cycle at which the
valves open. The valves are usually
opened sooner at higher speed than at
lower speed. This can increase the flow of
air into the cylinder, increasing power and
fuel economy.
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 Sensors and actuators
• Sensors for air flow, pressure, temperature, speed, exhaust oxygen, * knock
and crank angle position sensor makes a very vital impact in EEMS. sensors

• MAP: Manifold Absolute pressure.

• IAT: Intake Air Temperature.
• MAF: Mass of Air Flow.
• CKP: Crank Shaft Position.
• CMP: CAM Shaft position.
• ECT: Engine coolant temperature.
• O2: Oxygen sensor.
• TP: throttle position.
• VSS: Vehicle speed sensor.
• Knock sensor
• APP: Acceleration pedal position.
• Refrigrant sensor
 Computing systems
Uniprocessor, multiprocessor, distributed system

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CPU-GPU-TPU

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ELECTRONIC CONTROL UNIT

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 First Electronic Control Unit
• First seen in 1975 Chevrolet Cosworth
Vega
• Received information from 10 sensors
• Pre-programmed to monitor engine and
deliver fuel to cylinders
• Developed to adhere to stringent emission
control requirements
• Still analog
 ECU components
• 8-32bit 40 MHz microprocessor
• Analog-digital converter
• High-level digital outputs
• Digital-analog converter
• Signal conditioner
• Communication chips
– controller-area-networking, 500 Kbps
 Electronic Control Unit (ECU)
• Controls one or more car functions
• 70 – 100 ECUs inside a car (nearly as
many as inside Airbus A380)
• Embedded processor-based

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Types of electronic control units
–Airbag (ACU)
–Engine Control Unit(ECU)
–Transmission (TCU)
–Vehicle Control Unit
–Engine Management Unit
–ABS
–BCU
–VX
–Infotainment
–Suspension
–Brake control Unit……….
…….

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 An ECU and its interfaces

Power
Debug port Digital and
CAN port FlexRay port Analog
I/O ports 29
 Automotive Grade- ECU
• Renesas
• ST Microelectronics
• FreeScale
• Microchip
• Xilinx
• Intel

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 Example ECU (Freescale board
EVB9512XF)
Power

CAN controller
CAN port FlexRay port
Reset button
Digital and
Debug port Analog
I/O ports

Microcontroller
(CPU + memory)

LEDs

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 Hardware platform pre-requisites

■ High-computing capacity
■ GPU / High performance
graphics
■ Multiple video outputs
■ Car standard interfaces
— CAN / MOST / AVB etc
 Open ECU

 Bosch
 Continental
 Delphi
 Siemens
 Pi-Innova

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 FlexECU
Open ECU development platform supporting Bosch ECU
module

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ECU- programming -MATLAB

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Open ECU

FPGA+ Power PC

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 AI Processors
• Fuzzy Processors:
• Siemens SAE81C99: 256/128 I/O, 16384 rules, 10 M
fuzzy logic instruction per sec.
• Siemens SAE81C991: 4096/1024 I/O, 131072 rules,
10 M FL instruction per sec.
• Neuro-Processors:
• Analog or Digital implementation but not yet
commercialized.
• Example: 1000 neuron, 1M synapses, 1.37M
connection per sec.
 Automotive functional domains
• 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.
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ECU- EMS
 Basic Calculation
• Base Pulse Width – function of Load and RPM
• RPM = 2K Load = 4
• BPW = 8 milliseconds
• A = coolant temp = 100
• B = oxygen level = 3

• pulse width = (base pulse width) x (factor A) x

(factor B)
• PW = 8 x .8 x 1 =6.4 milliseconds
ECU- Airbag

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ECU-ABS

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 Automotive domains
Powertrai Chassis Body Telemati Passive
n cs safety
Program size 2 MB 4.5 MB 2.5 MB 100 MB 1.5 MB
Number of 3-6 6-10 14-30 4-12 11-12
ECUs
Number of 36 180 300 660 20
messages
Bus topology Bus Bus Bus Ring star
Bandwidth 500 Kb/s 500 Kb/s 100 22 Mb/s 10 Mb/s
Kb/s
Cycle time 10 ms – 10 10 ms – 10 50 ms 2 20 ms 0 5 50 ms
s s s s
Safety High High Low Low Very
requirements high
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(AUTOSAR-AUTomotive Open
System Architecture)

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 AUTOSAR from a Technical Point of View
• AUTOSAR Layered Architecture
AUTOSAR Application Actuator Sensor Application
Software
Component
Software
Component
Software
Component
Software
Component AUTOSAR Software
Component
AUTOSAR AUTOSAR AUTOSAR Software AUTOSAR
Interface
Interface Interface Interface
.............. Interface

ECU
AUTOSAR Runtime Environment (RTE)
Firmware
Standardized
Standardized Standardized AUTOSAR AUTOSAR
Standard AUTOSAR
Interface Interface Interface Interface
Software Interface
ECU
Services Communication
Abstraction
API 2
VFB & RTE Standardized Standardized Standardized
Standardized

relevant Interface Interface Interface

Inteface

API 1 Complex
Operating
RTE Device
System
relevant Drivers
Standardized
Interface
API 0

API 3 Private
Basic Software Microcontroller
Abstraction
Interfaces inside
Basic Software
possible ECU-Hardware
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ECU programming

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ECU-HIL

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 Automotive Data
Communication Buses
CAN – most spread network in the car, some limitations with 1 Mbps
bandwidth and non-deterministic behavior under high loading >60%.

LIN – low cost bus for body applications with 19.2 Kbauds and a
UART interface

MOST – designed for multimedia using optical fiber with

bandwidth up to 150 Mb/s

FlexRay – high performance (10 Mbps), deterministic, and secure

network, mainly used in X-by-wire, ADAS, and high
performance applications

Ethernet – mainly used for diagnostics today, high potential for more
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 In-Vehicle Networking complexity

Immobilizer RKE and Amplifier Video

TPMS Rx Video
Instrument
Motors Radio Nav Display Video
Seat Cluster
Motors Modules
Motors Body
Motors
Motors Controller / Engine Glow
Motors Gateway
Motors Management Plug
Motors Alarm
Airbag
Steering Cooling
Rear Module Column NOX Fan
Occupant
Flaps Classification
HVAC Rain Chassis
Flaps Sensor Fuel
Flaps Management
Flaps Pump
Sunroof Driver Seat Belt
Flaps Flaps
Blower Pretensioner
Lighting L SJB Power Transmission
Motors Door Module Pass. Seat Belt Steering
Motors Lighting R 4x4 Pretensioner
Active
Motors Steering
Motors Door Module
Motors Temp Blind Spot Suspension
Motors Sensor Cluster
Detection Suspension
Motors
Rear Suspension
Motors Wipers Anti-lock
Lighting Suspension
Battery Braking
Management
Park Assist

Adaptive
1996 Typical Vehicle: 6 ECUs Cruise Control

2009 High-End Vehicle: > 70 ECUs

2020 High-End Vehicle: > 300 ECUs
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New trends in In-Vehicle Networking Architecture
C2X
Vehicle Central Switch/
Diagnostic/Access Gateway
Ethernet

Main Main Chassis Main Infotainment Main

Engine Controller Controller ADAS Controller Controller Body Controller

Transmission Stability Reverse HMI Body

Control Camera Satellite Satellite 1

Energy Chassis Park Assist Telephone Body

Management Satellite 1 Camera Satellite 2

Chassis Blind Spot Infotainment Body

CAN
Satellite 2 Detection Satellite 1 Satellite 3

FlexRay LDW Ethernet/MOST Body

Satellite 4

Ethernet

LIN
Higher ECU integration and emergence

CAN
of domain controller will create new
challenges in terms of functional safety
(ISO26262) 50
51
AUTONOMOUS CAR -(Level 0~5)
AUTONOMOUS CAR -(Level 0~5)

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Environment Fusion
Environment Perception
Possible Sensor technologies for
Autonomous Vehicles
GPS Lidar

Camera
Ultrasonic

Odometr
y
Central
Computer Inertial Radar
Sensors
 Environment Perception
LiDA
R GP
S

Video IM
Cameras U

Ultrasonic

Processing
Platform
Rada
r
 The evolution to autonomous driving
Today Future
Distribution on multiple ECUs One domain controller

Actuators Actuators

One domain
ECUs controller

Sensors Sensors

• Distributed ADAS ECUs • Centralized domain controller

• Classical use case programing • Neural network technology
• Lacking algorithm developer-friendly • Open software environment
architecture for algorithmic development
• Hardware non-fault tolerant • Secure and fail-safe
• Discrete non-scalable system hardware
• Scalable toward L3/L4
5
autonomous driving
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XA Zynq UltraScale+ MPSoC
platform

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LiDAR+Camera-based Lane Detection

oRaw images acquired by a set of cameras

are processed independently and
asynchronously to produce lane boundary
detections, assisted by real- time vehicle
pose estimates and (optionally) obstacles
detected from lidar data.
oSpatial/temporal data fusion combines all
visual detections, along with curb
boundaries (optionally) obtained from lidar
data, and outputs high- confidence lane
candidates.
oLanes are estimated and tracked over
time, influenced by curvature
constraints and priors generated from
map data if available.
LiDAR + Camera-based Pedestrian and Vehicle Detection
Multi-Sensor Fusion for Moving Object Detection & Tracking
 ACC-ACCELARATION &
DECELARATION
 ACC Accelerator
 Actuator controls
the throttle
 – Vehicle-to-Vehicle (V2V): “the
dynamic wireless exchange of data
between nearby vehicles that offers
V2X the opportunity for significant safety
improvements.”

– Vehicle to Infrastructure (V2I): “The

wireless exchange of critical safety
and operational data between
vehicles and highway infrastructure,
intended primarily to avoid or mitigate
motor vehicle crashes but also to
enable a wide range of other safety,
mobility, and environmental benefits.”
– V2G: EV
– V2P:
– V2N
In-Vehicle Network
 Vehicle-to-Vehicle (V2V)
Radar for hazard
detection

Status message

Secure
these
wireless
links
Vehicles transmit status V2V messages must be
messages to each other to securely transmitted and
improve traffic flows and increase processed.
safety. Reliable
“Traffic jam ahead” Encrypted
“I have just put the brakes on” Authenticated
“Ice on the road ahead” Ensure privacy (no
 Vehicle-to-Infrastructure (V2I)
“Traffic lights not working at
junction ahead” “Road ahead closed.
Turn left at junction”

Secure these
wireless links
“Road works ahead”

“Spaces available in
Broad Street car
park”
ROADSIDE UNITS
Status messages can be
transmitted from kerbside
infrastructure to warn of
delays, hazards or provide
useful advice to travellers.
 Vehicle-to-Person (V2P)
Secure these
wireless links
Pedestrians
and joggers

Horses (and
other animals)

Non-vehicular road
users can indicate Cyclists, scooter
their presence by riders and other
sending status
messages to oncoming 2-wheeled
vehicles transport
 What is augmented reality HUD?

Transition from
- below line of
sight -

into
- driver’s direct
vision -

overlaying
Conventional Augmented Reality HUD
- reality and
HUD Further enhances driver’s
information -
Visual assistance experience and generates
system to increase faster
driving safety and reliable decisions out of
user experience ADAS-
7
system data in real time
0
Augmented reality HUD – basic features
Lane departure Adaptive cruise Intuitive
warning control navigation

SENSE ANALYZE INFORM

Data acquisition Data fusion HMI generation

Cameras AR HUD
External and Data fusion
internal • Data processing
Image HUD
ADAS generation
Car • Data fusion
• Real-time domain
sensors • AR decision
domain Speed/ making
drawing
• Dynamic
acceleration, • Dynamic
steering angle object
Navigatio coordinates
creation
n positioning • Warping
GPS/ • Prediction
pre-
positioning function
correctio
n
 Avoiding driver distraction

• Wider information display,

or dedicated passenger
display, allows for
additional content
(entertainment, services)
for passenger

• To avoid driver distraction,

a privacy mode feature is
then required (static or
switchable)

Normal mode Privacy mode

Multiplication of displays requires increased focus on driver

distraction avoidance
Modern Dashboard

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IOT
Edge-Fog-Cloud

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Edge-Fog-Cloud

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Edge-Fog-Cloud- Automotive
Systems

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Edge-Fog-Cloud- Automotive
Systems

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 The automotive data lake

Connected and autonomous vehicles (cars, taxis,

trucks, buses) are expected to generate great
lakes of data
28/03/2017
Image source: Intel
Connected Cars & Autonomous Vehicles
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 A role for AI and machine learning
Artificial Intelligence (AI) is already used in automotive applications such as Smart
Parking, Driver alertness monitoring, Automated lane changing.

Audi AI test Audi virtual

vehicle cockpit
Other auto-makers such as BMW, Volvo,
Toyota and Mercedes are exploring use
of AI / ML in connected cars

These types of AI applications employ neural networks. These need to be trained

using large data sets, hence a role for Cloud Computing and Big Data.

28/03/2017 Connected Cars & Autonomous Vehicles

8
 Distributed Edge Computation

AI model inference derived on cloud could be deployed to the edge

devices for performing edge computing
Telematics

age
nt

agent Homes,
Appliance s,
etc.

Clo
ud

Devic
e
Manage
ment

agen agen
t t Industrial
Weara
bles Devices
83
84
WHY RPLD?( CPLDs+ FPGAs)
• RPLDs can integrate processor, Industrial
Ethernet/fieldbus standards, custom motor interfaces,
and DSPfunctions in one device.
• RPLDs give designers the freedom to create custom
functions completely adapted to their specific application
requirements by enabling both hardware and software
customization.
• RPLDs provide the capability to implement functions in
hardware, accelerating performance and simplifying the
software porting effort.
• This additional freedom opens up new avenues of
enhanced system performance, especially for motor
control energy efficiency 85
 RPLDs Enable Massively Parallel DSP
Example 256 TAP Filter Implementation
•
Programmable DSP - Sequential RPLD - Fully Parallel Implementation
Data In
Data In

Reg
Reg

Reg

Reg
Coefficients X C0 X C1 C0
X C2 X C3
X …C255 X
MAC Unit
256 clock
cycles
+ +
needed 256 operations
Reg
in 1 clock cycle Data Out
Data Out
1 GHz 500 MHz
= 4 MSPS = 500 MSPS
256 clock cycles 1 clock cycle
“… the unprecedented signal processing requirements of next-generation wireless
devices threaten to outpace the capabilities of DSP processors, creating opportunities
for massively parallel and highly customized devices.” BDTI, 2004

86
 CHALLENGES OF MOTOR CONTROL 7

 Accurately determining rotor speed/position

without sensors or expensive encoders
 Delivering precise torque with PWM techniques
 Extracting extra performance from low cost motors
 Supporting multiple motors and motor types
from one hardware platform
 Maintaining performance as motors are added to
the system
 Real-time motion control for multi-axis systems
 System communication and synchronization
 Why Use RPLDs for Motor 8

Control?
 Wider integration capabilities
– Industrial networking (Real-time Ethernet, CAN, PCIe)
– Multiple motors and motor types
– Custom interfaces and logic (i.e. camera sensors)
 Higher Performance
– Parallel processing capabilities reduce latency
– Real-time functions are deterministic in RPLD fabric
 Reduced Total Cost of Ownership (TOC)
– Increase power efficiency by advanced modulation schemes
(Space Vector Modulation, RPFM)
– Eliminate encoder cost using Sensorless Field Oriented Control
(SFOC)
– Reduce board BOM by integration of industrial networking
– Reduce motor BOM by using low cost Stepper instead of BLDC or
PMSM
Multiple MCU

89
FPGA-Based Control for Electric Vehicle and
Hybrid Electric Vehicle

90
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RPLD Parallel Processing
EV –Powertrain

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RPLD for EV

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 FPGAs
• Automotive grade, Virtex , XA Zynq-7000
MPSoCs
• Automotive grade Intel FPGAs (Altera),
Excalibre, Stratix, Cyclone

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Xilinx ECU-EV

99
 Electric Vehicle Management
ECU
• Electric Vehicle Management ECU
- Vehicle dynamics and predictive maintenance can be accelerated using
the low latency AI processing capabilities in the XA Zynq-7000 and XA Zynq
UltraScale+ MPSoC platforms
- Flexible PL hardware pipelines can handle multiple protocols which must
be processed simultaneously to handle complex vehicle communications
and act in real time upon critical data
• On-board Charger, Battery Management Systems and EV Motor Drive
Control
- Increasing use of AI and hardware acceleration to drive model-based
algorithms to adapt to the behavior of the underlying hardware in real time
utilizing hardware accelerators tightly-coupled with application software
- The PL provides unique and flexible ways to reduce EMI and minimize
losses and generate an IO map tuned to the specific platform

100
 Xilinx advantages in SiC-based
Motor Control
• Xilinx advantages in SiC-based Motor Control:

• Implement high-speed inverter motor control loops

- Ultra-fast control (ns) achieves higher switching frequencies
• Implement sub-control loop compensations
- Active current filtering for EMI reduction to minimize losses
• Perform precision tuning at individual IO level
- Minimize jitter and provide overcurrent protection
• Greater flexibility to optimize
- Implement real-time critical functions in flexible PL architecture

101
RPLD Integration Advantage
9
 RPLD Performance Advantage 10

Clarke Transform:
Convert phase currents from 3-axis to 2-axis ADC
Spartan-6
ParkTransform:
RPLD: Convert to rotating coordinate system

2.5us
Slide Mode Controller:
Estimate motor position and speed
Sensorless
MCU: Field Oriented
Control
PI Controllers:
55-100us Estimate and correct error in speed & torque

+15x faster Inverse Park Transform:

control loop Convert rotating to stationary coordinates
means better
precision, greater Inverse Clarke Transform:
performance and Convert 2-axis to 3-axis

higher efficiency
Power Modulation:
Power Modulation: Drive
PWM, SVM, RPFM
PWM, SVM, RPFM Stage
 Typical 3-phase Brushless Drive 13

• Synchronize
• Network & IO

 RPLD commands PWM signals via FET gate driver

ICs
 Galvanic or opto-isolation added for high power drives
Modulation vs. Control 19

 Modulation
– Determines voltage waveform delivered to the
motor
– Simplest is Pulse Width Modulation (PWM)
– Space Vector Modulation (SVM) based on
sinusoids
– RPLD creates complex waveforms, easily
changed on-the-fly
 Control
– Speed, position and torque can be controlled
– Field Oriented Control (FOC) used to
precisely regulate torque
– Add PID loops to control speed / position
– RPLD has huge performance advantage
 Field Oriented Control System 20

Park-1 Modulator
ISqref PID Motor
d,q SVM
- Driver
ISdref PID α, β RPFM
-
Ɵ = theta = rotor angle
θ

ISq d,q a
α, β

b
ISd α, β a, b, c

Park Clarke

Measure Theta = FOC

Estimate Theta = SFOC
 Xilinx Motor Control Library 25

 15 Unique Building
Blocks
 Easy Plug-and-Play
Configuration
 each motor
Parallel control path
processing
 for
Accelerated
computations using Xilinx Fully Documented
DSP48 slices IP
FOC PID CLARK PARK PWM-
SVM

– 48-bit operations
– 18-bit precision ATAN2 SIN/COS Rect2Pol Encoder IIR

– Interpolated
Sin/Cos/Atan2
PI Controller with DSP48E1
System Diagram with 7 Series
FPGA
 Xilinx Zynq-7000
46

 Field Oriented Control (FOC) Simulation in Simulink

 Embedded Coder™ generates C code for motor plant model executed on Cortex-A9
 HDL Coder™ generates VHDL/Verilog for motor control model executed on FPGA
 Verify Zynq EPP target execution with Simulink via Gigabit Ethernet connection

Gigabit
Ethernet

ZedBoard.org
 Gigabit
Embedded Coder™ Ethernet
C Code
Generation Cortex-A9
Processor
- System stimuli
- Voltage rectification
- 3-phase inverter
- Signal measurement
Plant Model - PMSM motor model

AXI Bus
HDL Coder™
HDL Code
Generation Programmable
Logic - Field Oriented Control
- Coordinate transforms
- Torque control loop
- Speed control loop
- Vector modulation
Controller
Simulink Design Flow for
Zynq-7000 EPP
48

Algorithm Model

Software Model Hardware Model

Embedded
HDL Coder
Coder

C code RTL code

Zynq Template

Xilinx EDK

Development
Board
 Zynq-7000 EPP –
Embedded Design Flow
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Stratix -Electrical Vehicle

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Motor Control with FPGA

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 The car of the future

https://www.toyota.com/ http://www.discover-sedric
concept-i/ .com/en/
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28/03/017 Connected Cars & Autonomous Vehicles
 The taxi of the future
There seems to be universal consensus that driverless taxis are
the way forward. In fact, they are already being trialled in major
cities around the world.
nuTonomy Uber
( Singapore ) (Pittsburgh,
USA)

http://nutonomy http://uber.
.com/
28/03/2017
com 124
 The transport revolution

Driverless Hyperloop
buses

Driverless Rolls Royce Commuter

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trucks
28/03/2017 autonomous ship drones
THANK YOU

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