E/E architecture; Model Based Systems Engineering; Time-Sensitive Networking; Design Space Exploration; Automated Driving; Design Patterns; Safety-critical systems
Abstract :
[en] Megatrends such as Highly Automated Driving (HAD) (SAE $\geq$ Level-3), electrification, and connectivity are reshaping the automotive industry. Together with the new technologies, the business models will also evolve, opening up new possibilities and new fields of competition. To cope with the ongoing advances, new Electric/Electronic (E/E) architecture patterns are emerging in the sector, distributing the vehicle functions across several processing devices and enhancing the connectivity between them via Ethernet-based networks.
Upcoming systems will demand Safety-Related Availability (SaRA) requirements in mixed-critical E/E architectures that challenge the concept of freedom from interference defined in ISO 26262. This work explores the concepts of SaRA system development according to ISO 26262, building a framework based on Model-Based Systems Engineering (MBSE) to evaluate feasible next-generation automotive E/E architecture designs with a multi-objective analysis. Additionally, we propose a pattern template for SaRA systems to automate the architecture synthesis. To illustrate the framework created, we evaluate a set of automotive E/E architectures synthesized to support mixed-critical vehicle features, including SaRA SAE Level-3 functions, considering the communication networks' performance as well as hardware and safety-related development costs.
This work presents a methodology for Original Equipment Manufacturers (OEMs) and Tier1s suppliers that enables them to make the trade-offs arising in the design of E/E architectures based on quantified information.
Disciplines :
Computer science
Author, co-author :
Gonzalez de Oliveira, Ricardo; Robert Bosch GmbH > Engineering Systems Solutions
NAVET, Nicolas ; University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS)
Henkel, Achim; Robert Bosch GmbH > Systems Engineering BBM Technical Strategies and Enabling
External co-authors :
yes
Language :
English
Title :
Multi-objective optimization for safety-related available E/E architectures scoping highly automated driving vehicles
Publication date :
22 March 2023
Journal title :
ACM Transactions on Design Automation of Electronic Systems
ISSN :
1084-4309
eISSN :
1557-7309
Publisher :
Association for Computing Machinery (ACM), United States - New York
Ashraf Armoush. 2010. Design Patterns for Safety-critical Embedded Systems. Ph. D. Dissertation. RWTH Aachen University, Aachen, Germany. Advisor(s) Stefan Kowalewski. http://publications.rwth-aachen.de/record/51773/files/3273. pdf.
RealTime at Work. [n.d.]. 2019. RTaW-pegase: Modeling, simulation and automated configuration of communication networks. https://www.realtimeatwork.com/software/rtaw-pegase.
A. Avizienis, J.-C. Laprie, B. Randell, and C. Landwehr. 2004. Basic concepts and taxonomy of dependable and secure computing. IEEE Transactions on Dependable and Secure Computing 1, 1 (2004), 11–33. https://doi.org/10.1109/TDSC.2004.2
Nikunj Bajaj, Pierluigi Nuzzo, Michael Masin, and Alberto Sangiovanni-Vincentelli. 2015. Optimized selection of reliable and cost-effective cyber-physical system architectures. In Proceedings of the 2015 Design, Automation Test in Europe Conference Exhibition (DATE). 561–566. https://doi.org/10.7873/DATE.2015.0913
C. Becker, J. Brewer, D. Arthur, and F Attioui. 2018. Functional Safety Assessment of a Generic Steer-by-wire Steering System with Active Steering and Four-wheel Steering Features. National Highway Traffic Safety Administration (NHTSA).
C. Becker, L. Yount, S. Rosen-Levy, and J. Brewer. 2018. Functional Safety Assessment of an Automated Lane Centering System. National Highway Traffic Safety Administration (NHTSA).
Hugh Blair-Smith. 2009. Space shuttle fault tolerance: Analog and digital teamwork. In Proceedings of the 2009 IEEE/AIAA 28th Digital Avionics Systems Conference. 6.B.1–1–6.B.1–11. https://doi.org/10.1109/DASC.2009.5347450
Jürgen Branke, Salvatore Greco, Roman Słowiński, and Piotr Zielniewicz. 2015. Learning value functions in interactive evolutionary multiobjective optimization. IEEE Transactions on Evolutionary Computation 19, 1 (2015), 88–102. https://doi.org/10.1109/TEVC.2014.2303783
Holger Caesar, Varun Kumar Reddy Bankiti, Alex Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom. 2020. nuScenes: A multimodal dataset for autonomous driving. 11618–11628. https://doi.org/10.1109/CVPR42600.2020.01164
Marco Chiesa, Andrzej Kamisiński, Jacek Rak, Gábor Rétvári, and Stefan Schmid. 2021. A survey of fast-recovery mechanisms in packet-switched networks. IEEE Communications Surveys Tutorials 23, 2 (2021), 1253–1301. https://doi.org/10.1109/COMST.2021.3063980
Oliver Creighton, Nicolas Navet, Patrick Keller, and Jörn Migge. 2020. Towards computer-aided, iterative TSN-and ethernet based EE architecture design. 2020 IEEE Standards Association (IEEE-SA) Ethernet & IP @ Automotive Technology Day (sep 2020). http://hdl.handle.net/10993/44490.
Joseph D’Ambrosio and Rami Debouk. 2013. ASIL decomposition: The good, the bad and the ugly. https://doi.org/10.4271/2013-01-0195
Marco Di Natale and Alberto Luigi Sangiovanni-Vincentelli. 2010. Moving from federated to integrated architectures in automotive: The role of standards, methods and tools. Proc. IEEE 98, 4 (2010), 603–620. https://doi.org/10.1109/JPROC.2009.2039550
Bruce Powel Douglass. 1999. Doing Hard Time: Developing Real-Time Systems with UML, Objects, Frameworks, and Patterns. Addison-Wesley Longman Publishing Co., Inc., USA.
Johannes Eder, Sebastian Voss, Andreas Bayha, Alexandru Ipatiov, and Maged Khalil. 2020. Hardware architecture exploration: Automatic exploration of distributed automotive hardware architectures. In Softw Syst Model, Vol. 19. 911–934. https://doi.org/10.1007/s10270-020-00786-6
Michael T. Emmerich and André H. Deutz. 2018. A tutorial on multiobjective optimization: Fundamentals and evolutionary methods. Natural Computing: An International Journal 17, 3 (sep 2018), 585–609. https://doi.org/10.1007/ s11047-018-9685-y
International Organization for Standardization (ISO). 2018. ISO 2626:2018 - road vehicles - functional safety. (2018).
International Organization for Standardization (ISO). 2019. ISO/PAS 21448:2019 - Road vehicles - Safety of the intended functionality. (2019).
International Organization for Standardization (ISO). 2020. ISO/TR 4804:2020 Road vehicles - safety and cybersecurity for automated driving systems - design, verification and validation. (2020).
Alessandro Frigerio, Bart Vermeulen, and Kees G. W. Goossens. 2021. Automotive architecture topologies: Analysis for safety-critical autonomous vehicle applications. IEEE Access 9 (2021), 62837–62846. https://doi.org/10.1109/ACCESS.2021.3074813
Erich Gamma, Richard Helm, Ralph Johnson, and John Vlissides. 1994. Design Patterns: Elements of Reusable Object-Oriented Software. Adisson-Wesley, Boston, MA, USA.
Michael Glaß, Martin Lukasiewycz, Rolf Wanka, Christian Haubelt, and Jürgen Teich. 2008. Multi-objective routing and topology optimization in networked embedded systems. 74–81. https://doi.org/10.1109/ICSAMOS.2008.4664849
Ricardo Gonzalez de Oliveira, Christian Kerstan, and Achim Henkel. 2021. Keynote: Service oriented architecture chances and challenges. Automotive Ethernet Congress 2021 (fev 2021). http://hdl.handle.net/10993/46249.
Ricardo Gonzalez de Oliveira, Indrasen Raghupatruni, Arne Hamann, and Achim Henkel. 2021. Virtual Verification of Cause-Effect Chains in Automotive Cyber-Physical Systems. 279–290. https://doi.org/10.1007/978-3-658-33521-2_21
Oleg Grodzevich and Oleksandr Romanko. 2006. Normalization and other topics in multi-objective optimization. Proceedings of the Fields-MITACS Industrial Problems Workshop.
Flühr H. 2012. Flugzeugsysteme. In: Avionik und Flugsicherungstechnik. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33576-1_11
Jussi Hakanen, Tinkle Chugh, Karthik Sindhya, Yaochu Jin, and Kaisa Miettinen. 2016. Connections of reference vectors and different types of preference information in interactive multiobjective evolutionary algorithms. In Proceedings of the 2016 IEEE Symposium Series on Computational Intelligence (SSCI). 1–8. https://doi.org/10.1109/SSCI.2016.7850220 [28] IEEE. 2009. IEEE standard for local and metropolitan area networks - virtual bridged local area networks amendment 12 forwarding and queuing enhancements for time-sensitive streams (Std 802.1Qav-2009 ed.). (2009).
IEEE. 2016. IEEE standard for local and metropolitan area networks - bridges and bridged networks - amendment 26: Frame preemption (IEEE Std 802.1Qbu-2016 ed.). (2016).
Alexandru Kampmann, Bassam Alrifaee, Markus Kohout, Andreas Wüstenberg, Timo Woopen, Marcus Nolte, Lutz Eckstein, and Stefan Kowalewski. 2019. A dynamic service-oriented software architecture for highly automated vehicles. In Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference (ITSC). 2101–2108. https://doi.org/10.1109/ITSC.2019.8916841
S. Kanajan, C. Pinello, Haibo Zeng, and A. Sangiovanni-Vincentelli. 2006. Exploring trade-off’s between centralized versus decentralized automotive architectures using a virtual integration environment. In Proceedings of the Design Automation Test in Europe Conference, Vol. 1. 1–6. https://doi.org/10.1109/DATE.2006.243895
Maged Khalil. 2019. Improving solution reuse in automotive embedded applications using a pattern library based approach. In Proceedings of the 2019 ACM/IEEE 22nd International Conference on Model Driven Engineering Languages and Systems Companion (MODELS-C). 653–659. https://doi.org/10.1109/MODELS-C.2019.00100
Stefan Kugele, Vadim Cebotari, Mario Gleirscher, Morteza Farzaneh, Christoph Segler, Sina Shafaei, Hans-Jörg Vögel, Fridolin Bauer, Alois Knoll, Diego Marmsoler, and Hans-Ulrich Michel. 2017. Research challenges for a future-proof E/E architecture - a project statement. In INFORMATIK 2017, Maximilian Eibl and Martin Gaedke (Eds.). Gesellschaft für Informatik, Bonn, 1463–1474. https://doi.org/10.18420/in2017_146
Stefan Kugele, David Hettler, and Jan Peter. 2018. Data-centric communication and containerization for future automotive software architectures. In Proceedings of the 2018 IEEE International Conference on Software Architecture (ICSA). 65–6509. https://doi.org/10.1109/ICSA.2018.00016
Longmei Li, Iryna Yevseyeva, Vitor Basto-Fernandes, Heike Trautmann, Ning Jing, and Michael Emmerich. 2017. Building and using an ontology of preference-based multiobjective evolutionary algorithms. In Proceedings of the 9th International Conference on Evolutionary Multi-Criterion Optimization - Volume 10173 (Münster, Germany) (EMO 2017). Springer-Verlag, Berlin, Heidelberg, 406–421. https://doi.org/10.1007/978-3-319-54157-0_28
Andreas Lock, Nigel Tracey, and Detlef Zerfowski. 2020. Entering new worlds. New E/E architectures with vehicle computers offer new opportunities (ETAS). RealTimes 2019/2020 (2020), 6–9. https://www.etas.com/en/company/realtimes_2019_2020-entering-new-worlds-new-e-e-architectures-with-vehicle-computers.php.
Tieu Long Mai and Nicolas Navet. 2021. Improvements to deep-learning-based feasibility prediction of switched ethernet network configurations. In Proceedings of the 29th International Conference on Real-Time Networks and Systems (NANTES, France) (RTNS’2021). Association for Computing Machinery, New York, NY, USA, 89–99. https://doi.org/10.1145/3453417.3453429
Tieu Long Mai and Nicolas Navet. 2021. Deep learning to predict the feasibility of priority-based ethernet network configurations. ACM Trans. Cyber-Phys. Syst. 5, 4, Article 45 (sep 2021), 26 pages. https://doi.org/10.1145/3468890
K Miettinen. 2012. Nonlinear Multiobjective Optimization. Vol. 12. Springer, Berlin.
Timo Möller, Asutosh Padh, Dickon Pinner, and Andrea Tschiesner. 2019. The future of mobility is at our doorstep - compendium 2019/2020 (McKinsey center for future mobility). (Dec. 2019). https://www.mckinsey.com/industries/automotive-and-assembly/our-insights/the-future-of-mobility-is-at-our-doorstep.
Ahmed Nasrallah, Akhilesh S. Thyagaturu, Ziyad Alharbi, Cuixiang Wang, Xing Shao, Martin Reisslein, and Hesham ElBakoury. 2019. Ultra-low latency (ULL) networks: The IEEE TSN and IETF detnet standards and related 5G ULL research. IEEE Communications Surveys Tutorials 21, 1 (2019), 88–145. https://doi.org/10.1109/COMST.2018.2869350.
V. Navale, K. Williams, A. Lagospiris, M. Schaffert, et al. 2015. (R)evolution of E/E architectures. SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 8(2) (2015). https://doi.org/10.4271/2015-01-0196
N. Navet, T.L. Mai, and J. Migge. 2019. Using machine learning to speed up the design space exploration of ethernet TSN networks. http://hdl.handle.net/10993/38604.
Pierluigi Nuzzo, Nikunj Bajaj, Michael Masin, Dmitrii Kirov, Roberto Passerone, and Alberto L. Sangiovanni-Vincentelli. 2020. Optimized selection of reliable and cost-effective safety-critical system architectures. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 39, 10 (2020), 2109–2123. https://doi.org/10.1109/TCAD.2019.2963255
Alessandro Pinto, Alvise Bonivento, Alberto Sangiovanni-Vincentelli, Roberto Passerone, and Marco Sgroi. 2006. System level design paradigms: Platform-based design and communication synthesis. ACM Trans. Design Autom. Electr. Syst. 11 (01 2006), 537–563. https://doi.org/10.1145/996566.1142982
Klaus Pohl, Harald Hönninger, Reinhold Achatz, and Manfred Broy. 2012. Model-Based Engineering of Embedded Systems: The SPES 2020 Methodology. Springer, Heidelberg. https://doi.org/10.1007/978-3-642-34614-9
V. Rupanov, C. Buckl, L. Fiege, M. Armbruster, A. Knoll, and G. Spiegelberg. 2014. Employing early model-based safety evaluation to iteratively derive E/E architecture design. Science of Computer Programming 90 (2014), 161–179. https://doi.org/10.1016/j.scico.2013.10.005 Special Issue on Component-Based Software Engineering and Software Architecture.
SAE. 2021. SAE-J3016_202104. taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles. (2021). https://www.sae.org/standards/content/j3016_202104.
Adam Schnellbach. 2016. Fail-operational automotive systems. Ph. D. Dissertation. Graz, TU, Graz„ Austria. Advisor(s) Mario Hirz.
Bernhard Schätz, Vincent Aravantinos, Sebastian Voss, Sabine Mavin, and Florian Hözl. 2015. AutoFOCUS 3: Tooling concepts for seamless, model-based development of embedded systems.
Bernhard Schätz, Sebastian Voss, and Sergey Zverlov. 2015. Automating design-space exploration: Optimal deployment of automotive SW-components in an ISO26262 context. In Proceedings of the 2015 52nd ACM/EDAC/IEEE Design Automation Conference (DAC). 1–6. https://doi.org/10.1145/2744769.2747912
Stephan Sommer, Alexander Camek, Klaus Becker, Christian Buckl, Andreas Zirkler, Ludger Fiege, Michael Armbruster, Gernot Spiegelberg, and Alois Knoll. 2013. RACE: A centralized platform computer based architecture for automotive applications. In Proceedings of the 2013 IEEE International Electric Vehicle Conference (IEVC). 1–6. https://doi.org/10.1109/IEVC.2013.6681152
Matthias Traub, Alexander Maier, and Kai L. Barbehön. 2017. Future automotive architecture and the impact of IT trends. IEEE Software 34, 3 (2017), 27–32. https://doi.org/10.1109/MS.2017.69
Underwriters Laboratories (UL). 2020. UL4600 - standard for evaluation of autonomous products. (2020).
Humberto Luiz Valdivia de Matos, Adilson Marques da Cunha, and Luiz Alberto Vieira Dias. 2014. Using design patterns for safety assessment of integrated modular avionics. In Proceedings of the 2014 IEEE/AIAA 33rd Digital Avionics Systems Conference (DASC). 4D1–1–4D1–13. https://doi.org/10.1109/DASC.2014.6979473
Josetxo Villanueva, Jörn Migge, and Nicolas Navet. 2021. QoS-predictable SOA on TSN: Insights from a case-study. Automotive Ethernet Congress 2021 (feb 2021). http://hdl.handle.net/10993/46285.
Christopher B. Watkins and Randy Walter. 2007. Transitioning from federated avionics architectures to integrated modular avionics. In Proceedings of the 2007 IEEE/AIAA 26th Digital Avionics Systems Conference. 2.A.1–1–2.A.1–10. https://doi.org/10.1109/DASC.2007.4391842
Y.C. Yeh. 1996. Triple-triple redundant 777 primary flight computer. In Proceedings of the 1996 IEEE Aerospace Applications Conference. Proceedings, Vol. 1. 293–307 vol.1. https://doi.org/10.1109/AERO.1996.495891
Sergey Zverlov, Maged Khalil, and Mayank Chaudhary. 2016. Pareto-efficient deployment synthesis for safety-critical applications in seamless model-based development. In Proceedings of the 8th European Congress on Embedded Real Time Software and Systems (ERTS 2016).
Sergey Zverlov and Sebastian Voss. 2014. Synthesis of pareto efficient technical architectures for multi-core systems. In Proceedings of the IEEE 38th Annual International Computers, Software, and Applications Conference Workshops, COMPSACW 2014. https://doi.org/10.1109/COMPSACW.2014.63