01 VN Intro

Vehicle Networks
The Networked Car
Univ.-Prof. Dr. Thomas Strang, Dipl.-Inform. Matthias Röckl

Outline
Intelligent Transportation Systems

Lecture Vehicle Networks, Thomas Strang and Matthias Röckl, WS 2008/2009
Transportation: Today – Tomorrow

Applications
Intra-vehicle Communications
Sensors and actuators
Wired automotive communication technologies
Inter-vehicle Communications
Cooperative Systems
Wireless automotive communication technologies
Transportation
Movement of people and goods from one place to another

Modes of transport: % Transport Growth in EU (1995-2006)
Pedestrian
Air transport
Water transport
Rail transport
Road transport
Transportation
Today
1.4 M road accidents with injured (2005) in EU with:

2 M injured (2005)
41.600 fatalities in EU (2005)
Î Costs of 50 billion EUR every year (0.5% of EU GDP)
7500 km traffic congestion on EU main roads every day
Î Costs of 200 billion EUR every year (2% of EU GDP)
Transportation
Tomorrow = Intelligent Transportation
Platooning
Adaptive Gantry Signs & In-vehicle signage
Assisted Driving
Autonomous Driving Intermodal transportation

Intelligent Portable
Infrastructure
Intelligent Transportation
Evolution
Intra-vehicle networking required
Intelligent
Intelligent
Intelligent
Vehicles
Vehicles
Vehicles
(eg. Road, Rail, Air)

Multi-modality
• Intra-vehicle networking
• Inter-vehicle networking Intelligent
• Vehicle-Infrastructure networking
• Infrastructure networking
Transportation
Inter-modality
Transportation of
people and goods with
the optimal mode of
transport
Intelligent
Intelligent
Intelligent
Infrastructure
Infrastructure
Infrastructure
Infrastructure networking required
Time
ITS
ITS improves transportation safety and mobility and enhances productivity through the use of
advanced information and communications technologies. [1]
ITS is the integration of information and communications technology with transport

infrastructure, vehicles and users [2]
Information Communications
ITS
Examples:
Advanced Driver Assistance Systems
Networked Traffic Infrastructure
Electronic Toll Collection
Electronic Freight Management
eCall
Cooperative Systems
[1] U.S. Department of Transportation

[2] Ertico – ITS Europe
Example: Advanced Driver Assistance Systems (ADAS)
ADAS are systems that support the driver in her/his task of driving a
vehicle in order to increase safety, efficiency and comfort
Detection of situational parameters by sensors and, if necessary,

performance of appropriate measures by actuators:
Sensors: Devices that measure a physical quantity and convert it to
a readable signal (e.g. odometer, thermometer, yaw rate sensor)
Actuators: Devices that transform a signal into an action in order to
perform a certain effect (e.g. brake, steering column, HMI)
Applications:
Electronic Stability Control (ESC)
Adaptive Cruise Control (ACC)
Lane Departure Warning (LDW)
Example: Advanced Driver Assistance Systems (cont’d)
Electronic Stability Control
Combined active and passive safety
Adaptive Cruise Control
Source: http://www.youtube.com/watch?v=NiZjeeMExY4
Source: http://www.youtube.com/watch?v=ywQBX6efDiM
Source: Bosch CAPS
Example: Networked Traffic Infrastructure
Adaptive Traffic Light Systems:

“Green light phase” adaptation based on

induction loops
Alignment of subsequent traffic lights
Variable Message Signs (VMS):
Centralized/Decentralized controlled adaptive
display of:
speed limit,
overtake allowance,
route (e.g. lane blocking, bypass),
traffic flow information,
hazardous situations,
amber alert,
wrong-way driver, etc.
Example: Electronic Toll Collection
Traditional tolling gates
DSRC-based:
DSRC: Dedicated Short Range Communication
(5.8 GHz or infrared)

Toll collection at gantries
Used for truck tolling in Austria
GNSS/GSM-based:
GNSS: Global Navigation Satellite System
(Global Positioning System GPS, Galileo)
Position of the vehicle is determined by GNSS
(optional infrared), aggregated and sent to tolling
center via GSM/GPRS
Up-to-date consistent road map required
Enforcement via DSRC
Used for truck tolling in Germany
Advantages of both systems:
No waiting delays at toll gates
(free flow tolling) GSM
Less infrastructure requirements Onboard Unit
(OBU)
Example: Electronic Freight Management
Continuous localization of vehicles and

goods
Application for haulage & taxi companies

Positioning via GNSS
Communication via GSM/UMTS
Evaluation of decentralized gathered
Floating Car Data (FCD) for:
Route optimization XFCD GPS Positioning
Driver/fuel management
Vehicle diagnostics
Hazardous goods monitoring
eXtended Floating Car Data (XFCD)
including speed, travel time, fuel
consumption, etc. Following traffic Congestion
Individual re-routing „Floating“ cars report

because of congestion control position + velocity + x
Example: eCall
Automatic (based on in-vehicle sensors, e.g. airbag/crash sensor) or manual

notification of Public Safety Answering Point (PSAP) via GSM/UMTS
Emergency message includes time, GPS position, driving direction, vehicle

identification number (VIN), accident severity and type, etc.
eCall will probably be enforced by European Commission in the next years
Example: Cooperative Systems
Safety:
Traffic Jam Ahead Warning

Intersection Assistance
Black Spot Warning
Curve Speed Warning
Efficiency:
Decentralized Floating Car Data
Optimal Speed Advisory
Infotainment/Comfort:
Point-of-Interest Notification
Free-flow tolling
Objectives
Safety:
Mitigation of accident severity (passive safety)
Prevention of accidents (active safety)

Avoidance of hazardous situations (preventive safety)
Efficiency:
Reduction of travel times
Reduction of fuel consumption
Reduction of CO2 emission
Reduction of noise emission
Infotainment/Comfort:
Increasing comfort of driving
Additional information services
Monetary:
Cost reduction (e.g. less sensors, less road infrastructure maintenance)
“Competitive edge”: Prevailing over competitors
The networked car
Main scope of
Intra-vehicle
this lecture communications
(1st half of lecture)
Information Communications
Gathering, filtering, Exchange of information
fusion, processing, between distributed
distribution of information entities
Inter-vehicle
communications
Intelligent
(2nd half of lecture)
Transportation
Systems
Intra-Vehicle Communications
Automotive Evolution
In the past: VW Käfer (1950)

50 m copper wires
0 Electronic Control Units
(ECUs)
Today: VW Phaeton (2004)

3860 m copper wires
45 networked Electronic Control
Units (ECUs) / 61 ECUs total
11.136 electrical parts in total
3 different bus networks
Vehicle Electronics
Source: Volvo 2002
ECU: Electronic
Control Unit
Source: McKinsey: RACE 2015

Sensors and actuators

Degree of networking
• ACC Stop&Go
• Park Assistant
• Adaptive Headlights
• Night Vision Systems
• Hands-free
• Navigation system equipment
Degree of networking
• RDS/TMC • Steer/Brake by Wire

• Adaptive Cruise • Lane keeping
Control (ACC) assistant
• Electronic gearbox • Electronic Stability • Lane departure
control Control (ESC) Warning
• Electronic air • Active Body • Personalization
• Electronic fuel conditioning Control (ABC) • SW Update
Injection • Antilock Blocking • Airbags • Force Feedback
• Cruise Control System (ABS • Park Distance Pedal
Control
• Central locking • Anti-Slip Control • …
system (ASC) • …
• … • …
Based on BMW CarIT

Network Evolution
ECU Standalone ECUs:

ECU
No networking between ECUs required

ECU ECU
Network Evolution
ECU
ECU Directly connected ECUs (partially meshed)
ECUs that require other ECUs are directly
ECU ECU connected
ECU
GW
ECU Star topology with central gateway
ECU ECU
Central gateway controls message flow
ECU
ECU Partitioned bus topology with interconnecting
GW gateway
ECU ECU Shorter wires
Gateway connects different bus systems
In-vehicle bus systems
Special-purpose networks interconnected by one or more gateways

Partitioned bus systems
No failure
handling
Display
Fail-safe:
In case of failure the
system automatically
switches to a safe
state (often with
reduced functionality)
Fail-operational:
In case of failure the
system remains in an
operational state (e.g.
mechanical backup
Based on: Bosch 2000 system)
Volkswagen Golf V
In-vehicle bus systems
Network Categories
Class A:
Data rate: < 10kbit/s
Usage: Low-end general-purpose event-

driven communication (e.g. sub-busses)
Examples: LIN, TTP/A, J-1850, I2C
Class B:
Data rate: 10 – 125 kbit/s
Usage: non-critical communication (e.g.
instruments)
Examples: TTP/B, Byteflight, Low-speed
CAN
Class C:
Data rate: 125 kbit/s – 1 Mbit/s
Usage: High-end, fast, real-time
communication (e.g. engine timing, fuel
delivery)
Examples: TTP/C, High-speed CAN, MOST,
FlexRay
D2B
Class D:
Data rate: > 1 Mbit/s
Usage: Very high speed communication (e.g.
multimedia) I2 C
Examples: MOST, IDB-1394
Source: SAE
Network types
Max. data rate
TDMA and
Medium access CSMA
2 Cu per 1 optical
Cables channel
max. 64 per
Max # of nodes segment
Costs per node $

Based on: Luckenbach (Fraunhofer FOKUS) 2007
Inter-Vehicle Communications
Communication between …
Vehicles
Cars
Trucks
Buses
Motorcycles
Optional:
trains, trams, pedestrians, etc.
Infrastructure and vehicle: Source: Car-2-Car Communication Consortium
Road-side Units (RSUs): variable message signs (VMS), traffic

light signals (TLS), portable infrastructure (intelligent cones), …
Broadcast systems: Digital Video/Audio Broadcast (DVB/DAB),
RDS-TMC, TPEG, …
Cellular network infrastructure: GSM/UMTS, WiMAX, …
Decentralized Local Danger Warning
(based on: Car-to-Car Communication Consortium)

Long Range Sensing
Distribution of locally detected danger Medium Range Sensing
warnings (black ice, aquaplaning,
Short Range Sensing

obstacles, etc.) to vehicles and roadside
units in the vicinity
Vehicles as moving sensor platforms
Enlargement of sensing range
extending line-of-sight horizon of local
sensors: Decentralized Local Danger Warning
Short range: Ultrasound
Medium range: Radar, Lidar,
Camera
Long range: V2V communications
Impact through improved safety:
extended foresight enables timely
reaction
Cooperative Adaptive Cruise Control
Cooperative Adaptive Cruise Control
Automatic longitudinal gap keeping
assistant based on Vehicle-2-Vehicle
Communication
Exchange of speed, heading,
position, brake/acceleration action,
vehicle type, etc.
Impact through:
Improved safety: timely &
reliable reaction
Improved traffic efficiency:
closer safe gaps
Improved comfort: less
unnecessary deceleration
Improved energy and material
usage: e.g. use of engine brake
or recuperator instead of
service brake
Emergency Electronic Brake Light
Source: Schulman, Active Safety Features and Active Safety Human Factors Issues, 2007
Traffic Efficiency
Regional detour
Local optimization
Optimization of global
journey times, fuel
consumption and
Traffic pollution by
Management
Center V2X communications
Global reroute
EU project
iTETRIS
http://www.ict-itetris.eu
V2I traffic light control
Adaptive traffic light systems

based on Vehicle-2-Infrastructure
communications
Impact through:
Improved efficiency:
Traffic light switching
according to actual traffic
volume and intended
movement direction
Increased comfort: less
decelerations
Reduced costs: Average
lifetime of a induction loop is
3 years!
Source: DLR Simulation of Urban MObility (SUMO), http://sumo.sourceforge.net
Source: Holfelder 2004

Wireless communication technologies
Lecture outline
Intra-vehicle communications
1st half of lecture

Controller Area Network (CAN)

LIN, FlexRay, Byteflight, I2C
MOST, D2B, DC
Bluetooth, UWB
Inter-vehicle communications
2nd half of lecture

V2X physical layer: modulation, frequencies, coding
V2X data link layer: MAC, prioritization, multi-channel, etc.
V2X network layer: routing, data dissemination, etc.
V2X applications and security

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Vehicle Networks

The Networked Car

Univ.-Prof. Dr. Thomas Strang, Dipl.-Inform. Matthias Röckl

Intelligent Transportation Systems

Transportation: Today – Tomorrow

Movement of people and goods from one place to another

Modes of transport: % Transport Growth in EU (1995-2006)

1.4 M road accidents with injured (2005) in EU with:

Autonomous Driving Intermodal transportation

(eg. Road, Rail, Air)

ITS is the integration of information and communications technology with transport

[1] U.S. Department of Transportation

Detection of situational parameters by sensors and, if necessary,

Combined active and passive safety

Adaptive Cruise Control

Adaptive Traffic Light Systems:

“Green light phase” adaptation based on

(5.8 GHz or infrared)

Continuous localization of vehicles and

Application for haulage & taxi companies

Individual re-routing „Floating“ cars report

Automatic (based on in-vehicle sensors, e.g. airbag/crash sensor) or manual

Emergency message includes time, GPS position, driving direction, vehicle

Traffic Jam Ahead Warning

Prevention of accidents (active safety)

In the past: VW Käfer (1950)

Today: VW Phaeton (2004)

Source: Volvo 2002

Source: McKinsey: RACE 2015

Sensors and actuators

• RDS/TMC • Steer/Brake by Wire

Based on BMW CarIT

ECU Standalone ECUs:

No networking between ECUs required

Special-purpose networks interconnected by one or more gateways

Usage: Low-end general-purpose event-

Max. data rate

Costs per node $

Road-side Units (RSUs): variable message signs (VMS), traffic

(based on: Car-to-Car Communication Consortium)

Short Range Sensing

Adaptive traffic light systems

Source: Holfelder 2004

1st half of lecture

Controller Area Network (CAN)

2nd half of lecture

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