Challenges ahead within developing the next generation of

Challenges ahead within developing the next generation

of productive commercial heavy vehicles and why

reference architecture for motion functionality is needed

Leo Laine

GTT

Background – J1939 protocol and system layout for EBS/ESC for commercial heavy vehicles

2016-05-03, Leo Laine 2

Messages sent from EBS

TSC1_EMS_EBS

TSC1_EMSRet_EBS

TSC1_RECU_EBS

For TorqueLimits

Sent from EBS

BrakePressures and slip level Requests

GTT

Background – just a hint about truck configurations

2016-05-03, Leo Laine 3

4x2 6x2 pusher 6x2 tag 6x4

…

10x4 tridem

GTT

Background- European Modular System (EMS)

2016-05-03, Leo Laine 4

EMS – EU directive 96/53

short module short module

long module

long module short module long module

long module

Nordic countries EU

short module

GTT

Optimal Vehicle Configurations

2016-05-03, Leo Laine 5

EMS – EU directive 96/53 EMS+

GTT

Vehicle Productivity

2016-05-03, Leo Laine 6

Two vehicle combinations each 40 t

-Large space needed on the road/traffic

-Two drivers needed

-Two engines needed

One vehicle combination 80 t

-Less space needed on the road/traffic

-One driver needed

-One engine needed (CO2 and NOxreduction)

Improved performance by integrated propulsion, braking, and steering on selected units (here Dolly)

GTT

Vehicle combination environment sensing

2016-05-03, Leo Laine 7

Vehicle Environment Sensors unit 1 (Tractor)

Vehicle Environment Sensors unit 3 (Dolly)

Vehicle Environment Sensors unit 4 (Semitrailer 2)

R4

0

E2

0

GTT

Society – OEM – Logistic Perspective

2016-05-03, Leo Laine 8

Society [+]

Logistics company [+]

OEM [+]

Two tractor units 6x2T

One tractor unit 6x4T

+Larger engine

+Additional axles

+Additional driver support functions

One tractor unit 6x4T

One smart unit

Complete combination control

𝑉𝑒ℎ𝑖𝑐𝑙𝑒 𝑃𝑟𝑜𝑑𝑢𝑐𝑡𝑖𝑣𝑖𝑡𝑦 = 𝑅𝑒𝑣𝑒𝑛𝑢𝑒

𝐶𝑜𝑠𝑡𝑓𝑖𝑥𝑒𝑑 + 𝐶𝑜𝑠𝑡𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒

𝑀𝑖𝑠𝑠𝑖𝑜𝑛𝑠

𝑖=1

GTT

Requirements, Society

2016-05-03, Leo Laine 9

Emission Zones, Gothenburg 2025?

On certain route segments it is necessary to manage with 100% electric propulsion by discharging battery buffers. SOC

GTT


2016-05-03, Leo Laine 10

Performance Based Characteristics

Longitudinal

1 § Startability at x % slope.

2 § Gradeability with 70 km/h at x % slope.

3 § Downhill capability with 70 km/h at x % slope.

4 § Acceleration capability 0 to 100 m with x seconds.

5 § Stopping distance, from 70 to 0 km/h on x m.

GTT


2016-05-03, Leo Laine 11

Performance Based Characteristics

Lateral

6 § Steady state rollover threshold, 0.x g.

7 § High speed steady state offtracking, x m.

8 § Deceleration capability in a turn, x m.

9 § Low speed swepth path width, 180 deg with Rmin.

10 § High speed transient offtracking, x m.

11 § Rearward amplification, RWA < x.

12 § Yaw damping, YD < x.

13 § Lateral clearance time, LCT < x s.

R

Rmin Rmin

GTT

Safe corridors for long combinations Traffic situation – changing highways

2016-05-03, Leo Laine 12

R4

0

E2

0

Behaviour of other vehicles needs to be considered

Simplified model of the vehicle combination to update the current traffic situation and predict threats and manouvers

Environment sensors

𝜃1 𝜃2

𝜃3

Standardized articulation angle sensors for vehicle combination state estimation

GTT

Different Views

2016-05-03, Leo Laine 13

GTT

Reference architecture for vehicle motion functionality

2016-05-03, Leo Laine 14

…

Human Machine Interface

…

… …

Signal Distribution Topology – Heavy Duty COE (€3-€5 & PNLT)Issuer

TEA2+ EE Platform Management TeamIssue

2.3.0

Volvo 3P

Date

2009-12-16

TECU

LECM

CCM

Workshop

Tool

BBM

FCIOM

DDM

PDM

APM

TACHO

OBD

Scan Tool

HMIIOMCIOM

ALARM

EBS/RAS

SID (High)

IC

Ca

b S

ub

ne

t

Info

tain

me

nt S

ub

ne

t

Ch

assis

Su

bn

et

Ba

ckb

on

e 2

Ba

ckb

on

e 1

Brake Proprietary Net

BB Proprietary Net

FMS Net

PGAS Alternator Net

VS

VMCU

PGAS Proprietary Net

SRS

FAS

Dis

pla

y

Su

bn

et

Po

we

rtra

in S

ub

ne

t

ACM

NOX

RCIOM

Advanced

Lighting Net

NOX EU6

SID (Low)

Audio

TESP(NAVI)

Diagnostics

Connector

Diagnostics

Link

EMS

ABS

TGW II

Se

cu

rity

Su

bn

et

Telematics net

WRG/WRCS

FLS

Active Safety

Proprietary Net 2

Active Safety

Proprietary Net 1

LPOSSide Sensor

Alco lock

DACU

CCIOM

FMS std

Connector

UQS PNLT

VGT/SRA EGR

BLECU

Sub-interface Connection Volvo Proprietary Networks

ISO & SAE Networks

Electronic Control Unit

Tool & Other

Truck Application

System

Basic Support Functionality

Computation & Signal

Distribution System

High

…In

telligence (Lo

gic) Level …Lo

w

RTE / BSW

GTT

Reference architecture for vehicle motion functionality

2016-05-03, Leo Laine 15

Vehicle Motion Mgmt

Motion Support Device Mgmt

Ve

hic

le E

niv

orm

ne

nt

Map

s

Traffic Situation Mgmt

Route Segment Mgmt

Route Mgmt

Transport Mission Mgmt Support

V2

V /

V2

I Su

rro

un

din

g se

nso

rs

Hu

man

Mac

hin

e I

nte

rfac

e

𝐹𝑙𝑒𝑒𝑡 𝑃𝑟𝑜𝑑𝑢𝑐𝑡𝑖𝑣𝑖𝑡𝑦 = 𝑅𝑒𝑣𝑒𝑛𝑢𝑒



𝑖=1

𝑈𝑛𝑖𝑡𝑠

𝑗=1

A

ID1

B C

Statistical vehicle models of fuel consumption, routing updated due to traffic flow etc.

SOC

Sensors Actuator Models

GTT

Traffic situation Mgmt

class Traffic Situation Mgmt - Internal Refrence Structure

«Functionality Domain»


«Functionality Area»

Traffic Situation Coaching


Traffic Situation Predictions


Traffic Situation Manouv ers


Human Machine Interface


Driv er Condition Mgmt


Vehicle Motion & Payload Mgmt


Vehicle Env ironment Mgmt


Traffic Env ironment Observ ation

OperationControl

«use»

Operation Status

«use»

OperationStatus

«use»

Vehicle Motion Mgmt

Transport Mission Mgmt

Motion Support Device Mgmt

Veh

icle

En

vir

on

men

t

Transport

Application

Adaptation


Route Segment Mgmt

Human

Machine

Interface

Route Mgmt

• Forward Controller • Speed Controller • Course Controller • Automatic Headway Illumination • …

• Energy Coach • Safety Coach • Health Coach • …

• Collision Threats • Corridor predictions • Path Predictions • …

2016-05-03, Leo Laine 16

GTT

Part of future interface between VMM and TSM

SignalName VeMFRA from VeMFRA to

VehicleLongitudinalVelocityUphillCapability VMM TSM Design Paremeters slope based

VehicleLongitudinalVelocityDownhillCapability VMM TSM Design Parameters slope based

VehicleLongitudinalAccelerationPositiveCapability VMM TSM From B u_max.

VehicleLongitudinalAccelerationNegativeCapability VMM TSM From B u_min.

VehicleLongitudinalJerkPositiveCapability VMM TSM From B u_dot_max.

VehicleLongitudinalJerkNegativeCapability VMM TSM From B u_dot_min.

VehicleLongitudinalVelocitySts VMM TSM

VehicleLongitudinalAccelerationSts VMM TSM

Total vehicle acceleration/jerk capability, not for next sample.

Max/min acceleration also sets the limits for the requested acceleration sent from ACC function.

SignalName VeMFRA

from VeMFRA

to

AccelerationRequestOpCtrl TSM VMM The ACC function should not be managing the brake blending or send signals to EBS

and TECU+EMS.

SpeedRequestOpCtrl TSM VMM Alt. recalculate the acceleration request to a

vehicle speed.

From Traffic Situation

From Vehicle Motion Management

2016-05-03, Leo Laine 17

GTT

Standardization of application interfaces AUTOSAR

2016-05-03, Leo Laine 18

Eng

Dev.Ctrl

E/D Ret

Dev.Ctrl

PneBrk

Dev.Ctrl

Axle Steer

Dev.Ctrl

Suspension

Dev.Ctrl

FrntSteer

Dev.Ctrl

El. mach

Dev.Ctrl

WhlMtr

Dev.Ctrl

TrailerBrk

Dev.Ctrl

Buffer

Dev.Ctrl

AuxAct

Dev.Ctrl

WhlStr

Dev.Ctrl

…

Vehicle Motion Layer (<1 s ) Vehicle stability & energy management Vehicle Unit level / Axle level / Wheel level

Traffic Situation Layer ( <500 m, <10 s) Predictive safety & energy

Project / OEM dependent solution

Adaptive Cruise Ctrl

Collision Avoidance

Lane Support

Platooning

Different traffic situation functionality to use the vehicle’s capability

Requests Status Capability

…

A S A S A S …

Sensor Actuator Layer (sensor-actuator pattern in WP-I)

Motion Support Device layer

Vehicle Motion Layer Provider of Vehicle Motion

Traffic Situation Layer (Clients of Vehicle Motion Layer)

...

GTT

Questions?

2016-05-03, Leo Laine 19

𝑉𝑒ℎ𝑖𝑐𝑙𝑒 𝑃𝑟𝑜𝑑𝑢𝑐𝑡𝑖𝑣𝑖𝑡𝑦 = 𝑅𝑒𝑣𝑒𝑛𝑢𝑒



𝑖=1

Documents

Challenges ahead within developing the next generation of