Advanced Microsystems for Automotive Applications 2016 (eBook)

Preface 6
Supporters and Organisers 8
Steering Committee 9
Contents 10
Networked Vehicles & Navigation
1 Requirements and Evaluation of a Smartphone Based Dead Reckoning Pedestrian Localization for Vehicle Safety Applications 14
Abstract 14
1 Introduction 15
2 Localization Estimation Filter 16
2.1 Sensor Error Models and Impact of the Error Terms 17
2.2 Error-State Model 18
2.3 Observation Models 18
2.3.1 Loosely Coupled GNSS Measurement 19
2.3.2 Tightly Coupled GNSS Measurement 19
2.3.3 Barometric Height Measurement 19
3 Methods 20
3.1 Reference Measurement System 20
3.2 Measurement Environment 21
4 Results 22
4.1 GNSS Receiver and Method Comparison 22
4.2 Velocity Accuracy 22
4.3 Simulated Short-Time GNSS Outage 23
4.4 Location Estimation Accuracy Requirements for Pedestrian Protection Systems 23
5 Discussion 26
6 Conclusions 27
References 28
2 Probabilistic Integration of GNSS for Safety-Critical Driving Functions and Automated Driving—the NAVENTIK Project 29
Abstract 29
1 Introduction to GNSS in Automotive Applications 30
2 Confidence Adaptive Use Cases 33
2.1 E-Call Extension 33
2.2 Active Navigation 33
3 NAVENTIK Measures and System Architecture 35
4 Conclusion 38
Acknowledgments 38
References 39
3 Is IEEE 802.11p V2X Obsolete Before it is Even Deployed? 40
Abstract 40
1 Introduction 40
2 Related Work 41
3 The ETSI ITS-G5 Standard 42
3.1 Access Layer 42
3.2 Networking and Transport Layer 43
3.3 The Common Data Dictionary 44
3.4 Cooperative Awareness Basic Service 44
3.5 Security Services 45
4 Evaluation Framework and Methodology 45
5 Results 47
6 Conclusion and Future Work 49
Acknowledgments 49
References 49
4 Prototyping Framework for Cooperative Interaction of Automated Vehicles and Vulnerable Road Users 51
Abstract 51
1 Introduction 52
2 Prototyping Hardware Equipment and Sensorial Systems 52
2.1 Overview of Sensorial Systems 52
2.2 Research Vehicle for Automated Driving 53
2.3 Prototyping Testbed—Mobile Road Side Unit 55
2.4 Mobile Devices for VRUs 55
3 Software Framework for Prototyping 55
3.1 Software Modules Overview 55
3.2 Algorithmic Components 56
3.2.1 Vehicle Trajectory Representation 56
3.2.2 Intent Estimation 57
4 Application Scenarios 58
4.1 Manoeuvre Planning for Automated Green Driving and VRU Safety 58
4.2 Cooperative Interactions Between VRU and Automated Vehicles 59
5 Conclusion 60
Acknowledgment 60
References 60
5 Communication Beyond Vehicles—Road to Automated Driving 62
Abstract 62
1 Trends—Automated Driving and Smart System 63
2 Robustness—the Need for Smart Vehicles 64
3 Evolution—Communication Architectures 64
4 Essentiality—V2X Communication 67
5 Urgency—Secured Vehicle Architectures 69
6 Outlook—Requirements Secured Car Communication 71
References 71
6 What About the Infrastructure? 72
Abstract 72
1 Variation in Vehicles 72
2 Evolution in Car Systems 73
2.1 Introduction 73
2.2 Lateral Assistance Systems 73
2.3 Longitudinal Assistance Systems 74
2.4 Automated Cars 75
2.5 Fleets 76
2.6 Location, Communication, Maps 76
3 Involved Parties 77
3.1 The User 77
3.2 Road Operators 78
3.3 Law Makers 79
4 Conclusion 79
References 80
Advanced Sensing, Perception and Cognition Concepts 81
7 Towards Dynamic and Flexible Sensor Fusion for Automotive Applications 82
Abstract 82
1 Introduction 83
2 Related Work 84
3 SADA System Architecture 85
3.1 Overview 85
3.2 Distributed System 86
4 Communication Architecture 89
5 Preliminary Experimental Results 91
6 Conclusion 93
Acknowledgments 93
References 93
8 Robust Facial Landmark Localization for Automotive Applications 95
Abstract 95
1 Introduction 96
2 Related Work 96
3 Overview—AAM Framework Using MCT Features 97
4 AAM Using MCT Features 98
4.1 Initial Guess Generation 100
4.2 Model Generation and Parameter Optimization for Matching 100
4.3 Parameter Constraints and Weighting for Matching 101
4.4 Occlusion Handling, Quality and Intelligent Stopping Criterion 101
4.5 Head-Pose Estimation 103
5 Evaluation 103
6 Conclusion 105
References 106
9 Using eHorizon to Enhance Camera-Based Environmental Perception for Advanced Driver Assistance Systems and Automated Driving 107
Abstract 107
1 Introduction 107
2 The eHorizon 108
3 The Problem and Solution of Mapping a Camera Picture to the Real World and Vise Versa 110
3.1 Coordinate System and the Perceptible Range of the Camera 110
3.2 Analysis Based on Linear Geometric Optics 110
3.3 The Inverse-Light-Ray and Its Construction 112
3.4 The Inverse-Light-Ray-Method for Mapping a Picture to the Real Word 113
3.5 The Mapping from Real Word to Picture 114
4 Conclusion and Outlook 115
References 115
10 Performance Enhancements for the Detection of Rectangular Traffic Signs 117
Abstract 117
1 Introduction 117
2 Related Work 118
3 Radial Symmetry Detection 119
4 Improvement Potential 120
4.1 Scaled Voting Arrays 120
4.2 Altered Voting Process 121
5 Implementation 122
6 Results 123
6.1 Benchmark 123
6.2 Qualitative Performance 123
6.3 Quantitative Performance 125
6.4 Conclusion 126
7 Future Work 126
References 126
11 CNN Based Subject-Independent Driver Emotion Recognition System Involving Physiological Signals for ADAS 128
Abstract 128
1 Introduction 129
2 Physiological Signals Used 131
3 Research Methodology 131
3.1 Physiological Datasets Used 132
3.2 Feature Extraction 132
3.3 Classification Concept 133
3.4 Fusion Concept 136
4 Experimental Results 137
5 Conclusion 139
References 140
Safety and Methodological Challenges of Automated Driving 142
12 Highly Automated Driving—Disruptive Elements and Consequences 143
Abstract 143
1 Disruptive Elements 143
1.1 The Physical Change 144
1.2 The Change of Responsibility 145
1.2.1 Higher Safety Expectations 145
1.2.2 Safe and Comfortable Use of New Freedom 147
1.2.3 Common and Permanent Observation and Learning 148
1.3 The Change of the Vehicle Getting Part of a Mobile Network (Data-Driven Mobility Ecosystem) 149
2 Conclusions 152
3 Summary and Outlook 153
Reference 154
13 Scenario Identification for Validation of Automated Driving Functions 155
Abstract 155
1 Introduction 155
2 Validation of ADS Functions Using Real-World Scenarios 157
2.1 Definition of a Scenario 157
2.2 Real-World Scenarios for Testing and Validation of ADS 158
3 Detection of Driving Events in Microscopic Traffic Data 159
3.1 Data Set 159
3.2 Detection Methods 160
3.3 Results 162
4 Discussion and Conclusion 163
References 165
14 Towards Characterization of Driving Situations via Episode-Generating Polynomials 166
Abstract 166
1 Introduction 166
2 Definition of Situation and Episode 167
3 Generation and Evaluation of Episodes 168
3.1 Generation 169
3.2 Evaluation 169
4 Identification of Collisions 170
4.1 Coarse Collision Check 170
4.2 Fine Collision Check 171
5 Criticality Assessment of the Situation 171
6 Evaluation of Example Situations 172
7 Discussion 173
8 Conclusion 174
References 174
15 Functional Safety: On-Board Computing of Accident Risk 175
Abstract 175
1 Introduction 175
2 A New Solution for Measuring the on-Board Risk of Accident 176
3 Results and Discussion of Validation Tests 177
4 Conclusion 179
References 180
Smart Electrified Vehicles and Power Trains 181
16 Optimal Predictive Control for Intelligent Usage of Hybrid Vehicles 182
Abstract 182
1 Context of This Development for Connected Vehicles 183
1.1 The “from Well to Tank” Path 183
1.2 The “from Tank to Wheels” Path 184
1.3 The “from Wheels to Miles” Path 184
1.4 The Energy Optimization Purpose 185
1.5 The PMP Method 186
2 Power and Torque Efficiency Optimization in Hybrid Configurations 187
2.1 “Local” Optimization 187
2.2 “PMP”-Based Optimization of Torque Split 188
2.3 Predictive Complement in Connected Configurations 190
2.4 Actual Results 190
3 Trajectory Optimization on Given Trip 191
3.1 General Rules for Eco-Driving 191
3.2 “PMP”-Based Optimization 192
3.3 Actual Results 193
4 Merged Optimization 194
4.1 General Optimization System 194
5 Model-Based Control Impacts on Embedded SW Architectures 195
5.1 Model-Based Concepts 195
5.1.1 “External” Plant Model for Validation 195
5.1.2 “Internal” Plant Model in SW 196
5.2 Model-in-the-Software (“MIS”) Concepts 196
5.2.1 Delay ‘Compensation’ 196
5.2.2 Onboard Diagnostic 197
5.2.3 Model-Based Predictive Control (“MBPC”) 197
5.2.4 Pontryagin Maximum Principle 197
5.3 Consequences on Hardware Architecture 198
6 Conclusion 198
References 199
17 Light Electric Vehicle Enabled by Smart Systems Integration 200
Abstract 200
1 A Comprehensive Approach for LEV Development 201
2 Multi-disciplinary Investigation and Definition of the Specifications 202
2.1 Lightweight Seats 203
2.2 Assisted Rear e-Lift 204
2.3 HMI Based on Gesture Recognition 204
2.4 LEV Test in a Realistic Scenario 204
3 Energy Efficient Torque Management System 205
3.1 Handling Performance and Energy Efficiency 205
3.2 Parking Capability 206
4 Advanced Steering and Suspension System Design 206
4.1 Front Suspension/Steering System Design 207
5 Direct-Drive Air Cooled In-Wheel Motor with an Integrated Inverter 207
5.1 Flexible Integration 208
5.2 Thermal Performance Optimization and Mechanical/Thermo-mechanical Robustness Analysis 209
6 Innovative HMI Based on Gesture Recognition 210
7 E/E Architecture and Control Systems Development 211
8 Conclusions 213
Acknowledgments 214
References 214
18 Next Generation Drivetrain Concept Featuring Self-learning Capabilities Enabled by Extended Information Technology Functionalities 215
Abstract 215
1 Introduction 215
2 State-of-the-Art for Electrical Drive-Train Systems 216
3 Novel Concept for Drive-Train Architecture 217
3.1 System Architecture and Design 217
3.2 Main Technological Challenges 220
4 Conclusion 221
References 222
19 Embedding Electrochemical Impedance Spectroscopy in Smart Battery Management Systems Using Multicore Technology 223
Abstract 223
1 Introduction 224
2 Deployment of Safe and Secure Multicore-Based Computing Platforms 225
2.1 Migration of BMS Control Strategies to Multicore Platforms 225
2.2 INCOBAT Multicore Development Framework 225
2.3 Hardware Safety and Security Approach 227
3 Embedding EIS in Automotive Control Units 229
4 Thermo-Mechanical Stress Investigations 231
4.1 Ensuring Functionality of the Modules During Development Phase 232
4.2 Environmental and Lifetime Testing 233
5 Outlook: Demonstrator Vehicle Integration 233
6 Conclusion 234
References 235
20 Procedure for Optimization of a Modular Set of Batteries in a High Autonomy Electric Vehicle Regarding Control, Maintenance and Performance 236
Abstract 236
1 Introduction 236
2 Modeling of Gorila EV’s Batteries 238
2.1 Batteries Operation 238
2.2 Choice of Batteries 238
3 Methodology 240
4 Testing and Analysis 240
4.1 Definition of Parameters 240
4.2 Test Characteristics 241
4.2.1 Vehicle in Initial State 241
4.2.2 Vehicle After a Balancing of Batteries and Its Corresponding Full Charge 242
5 Results 242
5.1 Vehicle in Initial Stage 242
5.2 Vehicle After a Balancing of Batteries and Its Corresponding Full Charge 245
6 Protocol for Selective Charging of the Unbalanced Batteries 246
7 Summary and Conclusions 247
References 248
21 Time to Market—Enabling the Specific Efficiency and Cooperation in Product Development by the Institutional Role Model 249
Abstract 249
1 Introduction 250
2 Institutional Economic Role Model as Methodological Approach 252
3 Literature Review—Hypothesis Development 253
4 Methodology—Research Design 257
5 Statistical Analysis and Results 258
6 Approach for a Procedure Model 260
7 Conclusion 262