Professional Documents
Culture Documents
Document Responsibility SC
Non functional
legal requirements
Vehicle family
management
Resource efficiency
Driver assistance
Driving dynamics
Safety functions
(active/passive)
Comfort functions
Exchangeability
between
OEM a supplier‘s
Platform b.1 solutions OEM c
Platform b.2
Platform b.n
Platform a.1
Platform a.2 Supplier A Supplier B
Platform c.1
Platform a.n ¾ Chassis
¾ Chassis Platform c.2
¾ Safety Platform c.n
¾ Safety
¾ Telematics
Exchangeability ¾ Body/Comfort
¾ Multimedia
between ¾ Multimedia OEM d
manufacturer‘s Supplier C
applications ¾ Body/Comfort
¾ Powertrain
OEM f ¾ Telematics
¾ Multimedia Platform d.1
Platform d.2
OEM e Platform d.n
Platform f.1
Platform f.2 Exchangeability
Platform f.n
Platform e.1
between vehicle
Platform e.2
Platform e.n
platforms
¾ Architecture:
Architecture
Software architecture including a complete basic or
Application
environmental software stack for ECUs – the so called
Methodology
Interfaces
AUTOSAR Basic Software – as an integration platform for
hardware independent software applications.
¾ Methodology:
Architecture
Exchange formats or description templates to enable a
Application
Methodology
seamless configuration process of the basic software stack
Interfaces
and the integration of application software in ECUs and it
includes even the methodology how to use this framework.
¾ Application Interfaces:
Architecture
Specification of interfaces of typical automotive applications
Application
Methodology
from all domains in terms of syntax and semantics, which
Interfaces
should serve as a standard for application software.
Methodology
Diagnostics Gateway
Industry-wide OS Kernel
consolidation of ECU
Abstraction
Bus systems
µController
‚existing‘ basic Abstraction
Complex
Drivers
software designs Drivers
CorePartners
Core Partners PremiumMembers
Members
(OEM&&Tier
Tier11Supplier)
Supplier) Premium
(OEM Leadership
LeadershipofofWorking
WorkingGroups
Groups
Organizational
Organizationalcontrol
control
Involvement
InvolvementininWorking
WorkingGroups
Groups
Technical
Technicalcontributions
contributions
Technical
Technicalcontributions
contributions
Administrative
Administrativecontrol
control
Access
Accesstotocurrent
currentinformation
information
Definition
Definitionofofexternal
externalInformation
Information
(web-release,clearance,
(web-release, clearance,etc.)
etc.)
Leadership
LeadershipofofWorking
WorkingGroups
Groups
Involvement
InvolvementininWorking
WorkingGroups
Groups
Support Roles
Development
Members
AssociateMembers
Associate Members Attendees
Access
Accesstotofinalized
finalizeddocuments
documents
Utilization
UtilizationofofAUTOSAR
AUTOSARstandard
standard
9 Core Partner
6 Development Member
85 Associate Member
55 Premium Member
CT Pilot Conformance Test Preparation CT Spec 1st set CT Spec 2nd set CT 3rd set CT 4th set Maintain CTS
Application Interfaces
Specification Appl. Interfaces R3.0Finalizat. Specification Application Interfaces R4.0 Maint. R4.0
Specification 3.0 Ready Release 3.0 Specification 3.1 Ready Release 3.1 Spec R4.0 MS3 Ready Validation & CT 4.0 Release 4.0
Work Packages
void distribute_v(void)
{
… distribute_v()
Rte_Write_p_v(rte_i, v)
…
}
void v_warn(void)
{
…
Rte_Read_p_v(rte_i, v)
…
}
distribute_v()
AUTOSAR RTE
Standardized Std. AUTOSAR Standardized AUTOSAR AUTOSAR
Interface Interface Interface Interface Interface
Communi- ECU
Services cation Abstraction
Standardized
Complex
Operating Device
System Drivers
Standardized Interface
DIO PWM CAN Driver
Microcontroller Abstraction
ECU-Hardware
AUTOSAR RTE
Standardized Std. AUTOSAR Standardized AUTOSAR AUTOSAR
Interface Interface Interface Interface Interface
Communi- ECU
Services cation Abstraction
Standardized
Complex
Operating Device
System Drivers
Standardized Interface
DIO PWM
DIO CAN Driver
Microcontroller Abstraction
ECU-Hardware
AUTOSAR RTE
Standardized Std. AUTOSAR Standardized AUTOSAR AUTOSAR
Interface Interface Interface Interface Interface
Communi- ECU
Services cation Abstraction
Standardized
Complex
Operating Device
System Drivers
Standardized Interface
DIO PWM
DIO CAN Driver
Microcontroller Abstraction
ECU-Hardware
CAN Bus
¾ Architecture:
Software architecture including a complete basic (environmental) software stack for an
ECU as an integration platform for hardware independent SW applications
¾ Methodology:
Exchange formats (templates) to enable a seamless configuration process of the basic
software stack and the integration of application software in ECUs
¾ Application Interfaces:
Specification of application interfaces as a standard for application software modules
AUTOSAR AUTOSAR
.................... AUTOSAR
Standardized, openly disclosed
Interface Interface Interface interfaces
HW independent SW layer
Transferability of functions
AUTOSAR RTE
Redundancy activation
AUTOSAR RTE:
Basic Software by specifying interfaces and their
Transfer layers for different communication technologies (e.g. CAN, LIN, …)
Network management
communication mechanisms, the
System services (diagnostic protocols, …) applications are decoupled from
NVRAM management
… the underlying HW and Basic SW,
enabling the realization of Stan-
dard Library Functions.
Microcontroller Abstraction
ECU Hardware
Application Layer
Microcontroller
Watchdog Manager
Interf.
Development Error
Function Inhibition
AUTOSAR Diagnostic SM
Diagnostic Event
Communication
Manager FIM
Manager DEM
COM Com.
Manager
I/O Hardware
Tracer
Manager
LIN
FlexRay NM
NVRAM Abstraction
Manager SM
PDU Router CAN NM
IPDU
Multi- FR
LIN CAN FlexRay
plexer SM
TP TP TP
Interface
Watchdog Interface
EEPROM Flash EEPROM
CAN transc
BSW Scheduler
FR transc
Ext. CAN
Abstraction Emulation
Ext. FR
Driver
Driver
Driver
Driver
External
Watchdog Ext.
Driver EEPROM Ext. Flash
Driver Driver
LIN Communication
SPI Handler Driver
internal EEPROM
Watchdog Driver
Flash Check
PORT Driver
PWM Driver
MCU Driver
ADC Driver
GPT Driver
CAN Driver
DIO Driver
ICU Driver
RAM Test
LIN Driver
FR Driver
Driver
Stack
Clock Unit
EEPROM
e.g. CCU
e.g. PCP
e.g. TPU
Ext. BUS
Power &
FlexRay
FLASH
CCU
PWM
WDT
MCU
CAN
ADC
GPT
DIO
SCI
SPI
LIN
Microcontroller µC
Memory Services
NVRAM Manager
EepIf_Read()
EepIf_Write()
Memory Hardware Abstraction
Mem Abstraction Interface
Application Layer
EEPROM Abstraction
AUTOSAR Runtime Environment (RTE)
System Services Memory Services Communication I/O Hardware Complex
Services Abstraction Drivers
SPI µC EEPROM
External EEPROM
Hardware
Sensor
Communication Bus
Communication Path
AUTOSAR AUTOSAR
Specifications Concepts &
Methodology
Module Implementations
&
ECU Configuration Tools
ECU-Hardware
.XML
System Configure
Configuration System
Input :
System
.XML AUTOSAR Methodology
System
Configuration
Extract
ECU- Specifications
Specific .XML
Description
:System Information
ECU Configure
regarding
Extract
of
ECU
.XML .exe
ECU Configuration
System
Configuration ECU Generate ECU
:System Configuration Executable Executable
Description
ECU
ECU 11
Status
StatusControl
ControlInput I/O Status
Digital
Input I/O HWA
HWA Status
Status Status
DigitalSignal
Signal Digital Control Control
0000..1111
0000..1111 Digital Control Control
(see
(seedescription)
description) Input
Input Master
Master Slave
Slave
Short
Short
Counting
Counting
Formatting
Formatting I/O
I/O HWA
HWA Lamp
Lampor or
Engine
Engine Analog
Analog Analog
AnalogOut
Out Volt-
Volt-
Speed +Short meter
Revolution
Revolution
Analog
I/O
I/O HWA
HWA Revolution
Revolution Speed +Short Detection
Detection meter
AnalogSignal
Signal Analog Value
0..5V
0..5V->
-> Analog Value
0..6000U/min
0..6000U/min Input
Input Normalization
Normalization
Formatting
Formatting I/O
I/O HWA
HWA Lamp
Lamporor
Speed
Speedvalue
value PWM
PWM PWM
PWM Signal
Signal
calculation
calculation Analyzer
Analyzer
Speed
Speed Output
Output
Gear I/O
Gear
Digital
I/O HWA
HWA Gear
Gear
DigitalSignal
Signal Digital Signal
0..1
0..1->
-> Digital Signal
1st
1stand
and2nd
2ndGear
Gear Input
Input Normalization
Normalization Formatting
Formatting I/O
I/O HWA
HWA Dot
Dot Matrix
Matrix
Speed
Speed Digital
Digital Display
Display
Display
Display Output
Output
ECU
ECU33
Status Control Input Status Status
Status Control Input
LIN Signal Status Status Short
LIN Signal
0000..1111 Control Control Short
Control Control Counting
ECU
ECU33 (see 0000..1111
description)
(see description)
Master
Master
Slave
Slave
Counting
Status Control Input Status Status
Status
DigitalControl
SignalInput I/O HWA Status Status Short
Digital Signal
0000..1111 I/O HWA Control Control Short
Digital Input Control Control Counting Formatting I/O HWA Lamp or
(see0000..1111
description) Digital Input Master Slave Counting Formatting I/O HWA Lamp or
(see description) Master Slave Analog Analog Out Volt-
ECU
ECU11
Analog
Speed
Analog Out
+Short Detection
Volt-
meter
meter
ECU
ECU11 Status
Status
Speed +Short Detection
Status Control Input I/O HWA Status Status Formatting I/O HWA Lamp or Control
Status
DigitalControl
Signal Input I/O HWA Status Status Formatting I/O HWA Lamp or Control Formatting I/O HWA Lamp or
Digital Signal
0000..1111 Digital Control Control Analog Analog Out Volt- Slave Speed value Formatting I/O HWA Lamp or
(see 0000..1111
Digital
Input
Control
Master
Control
Slave Analog Analog Out Volt-
meter Slave Speed value PWM PWM Signal
description) Speed +Short Detection
(see description) Input Master Slave
ECU
ECU11 Speed +Short Detection meter
Engine
Engine
Revolution
calculation
calculation
PWM
Speed
Speed
PWM
Output
Output
Signal
Analyzer
Analyzer
Revolution Revolution
Analog Signal I/O HWA Revolution
Analog Signal
0..5V -> I/O HWA Value
Short
Short Status Formatting I/O HWA Lamp or 0..5V -> Analog Input Value Formatting I/O HWA
Counting Status Speed value Formatting I/O HWA Lamp or 0..6000U/min Analog Input Normalization Formatting I/O HWA Dot Matrix
Counting Control Speed value PWM PWM Signal 0..6000U/min Normalization Speed Digital Dot Matrix
Display
Control calculation PWM PWM Signal
Analyzer Speed Digital Display
Slave calculation Speed Output Analyzer Display Output
Formatting I/O HWA Slave Speed Output Output
Formatting
Analog
I/O HWA
Analog Out
Lamp or
Lamp
Volt- or ECU
ECU11 CAN
CANBus
Bus
Display
Engine
Engine
Revolution
Revolution
Analog Signal
I/O HWA
I/O HWA
Revolution
Revolution
Analog
Speed
Speed
Analog Out
+Short Detection
+Short Detection
Volt-
meter
meter Engine
Engine
ECU
ECU44
Analog
0..5V ->Signal Analog Value Revolution Revolution Formatting I/O HWA
0..5V -> Analog
Input
Value
Normalization
Revolution
Analog Signal I/O HWA Revolution Formatting I/O HWA Dot Matrix
0..6000U/min
Input Normalization Analog Signal I/O HWA Value Speed Digital Dot Matrix
Display Gateway
0..6000U/min Digital
Speed value
Formatting
Formatting
I/O HWA
I/O HWA
Lamp or
0..5V ->
0..5V ->
0..6000U/min
Analog Input
Analog Input
Value
Normalization CAN
CANBus
Bus
Speed
Display Output
Output
Display Gateway
Lessons learned:
Î Configuration of RTE might be very complex as long the requirements of the RTE and the
OS are not optimized.
Î Close linkage of RTE & OS requires close cooperation between implementers
AUTOSAR aims at finding the best solution for each requirement and
2 not finding the highest common multiple.
AUTOSAR
AUTOSAR
SW-C
SW-C
SW-C
SW-C
... Components” (SW-C).
2
1
n
¾ Using “Software Component
Descriptions“ as input, the „Virtual
Virtual Functional Bus
Functional Bus“ validates the
interaction of all components and
interfaces before software
Tool supporting deployment implementation.
of SW components
AUTOSAR
AUTOSAR
AUTOSAR
SW-C
SW-C
SW-C
...
1
Gateway
AUTOSAR
AUTOSAR
SW-C application software components
SW-C
SW-C
SW-C
...
2
1
n
(interfaces and BSW requirements)
Mapping
Tools for
- support of component mapping
ECU I ECU II ECU m
- generation of RTE, i.e. inter- and
AUTOSAR
AUTOSAR
AUTOSAR
AUTOSAR
SW-C
SW-C
SW-C
n
1
2
3
...
RTE RTE RTE Standardized Basic Software
Basic Basic Basic (BSW) architecture, detailed
Software Software Software
specifications for implementation
and configuration of BSW
Gateway
SwitchEval
SW-Component Description
ECU Resource ECU Resource ECU Resource
Description Description Description
BlinkInputModule
SwitchEval
SW-Component Description
BlinkInputModule
Supported protocols:
BlinkMaster
CAN, LIN, FlexRay
SMLS System BlinkMaster
SW-Component Description
Description
BC-H LightActuatorsControl
BC-V LightActuatorsControl
LightSourceSetting
SW-Component Description
CAN
LIN LightSourceSetting
System Configuration
SWCMappingDefs DataMappingDefs
BlinkRequest
SwitchEval
Blink
Blink
Input
Master
Module
BlinkInputModule
BlinkMaster
Comm.Matrix for BodyCAN
LightActuatorsControl
FrameInstance
…BlinkRequest
LightSourceSetting SignalBS1
SignalBS2 SignalBS3
1a 1c 1b
SW Component System ECU Resource
Description Description Description
2
Configure System
& generate extracts
of ECU descriptions Iterative corrections
and(/or optimizations
(if required)
3
Configure
each ECU
SW Component
4
Generate SW
executables
for each ECU
SW executables
for each ECU
SW-Component
„v_warn()“
Template
ponent m
SW Com-
ponent 3
„get_v()“
SW Com-
Description
Description
Description
Description
...
Example: speed
warning device Virtual Functional Bus
SW Component Description
General characteristics (name, manufacturer, etc.)
Communication properties:
- p_ports
- r_ports
Information for each SWC - interfaces
inner structure (composition)
e.g. “get_v()” - sub-components
- interfaces, behavior (repetition rate, ...) - connections
- direct hardware interfaces (I/O)
required HW resources:
- requirements on run-time performance - processing time
(memory, computing power, throughput, - scheduling
timing/latency, …) - memory (size, type, etc.)
- ...
„get_v()“
AUTOSAR-Description
Software Component
Editor
Description
= tool based
AUTOSAR-Description ECU 1
Editor Resource
Description
= tool based
System Description
Network topology
- bus systems: CAN, LIN, FlexRay
- connected ECUs, Gateways
- power supply, system activation
System Information
overall system Communication (for each channel)
- bus systems, protocols, - K-matrix
communication matrix and - gateway table
attributes (e.g. data rates, timing, …) Mapping / Clustering of SW
- function clustering components
- function deployment
(distribution to ECU)
- ...
System-
AUTOSAR-Description
Description
Editor
= tool based
Description
„v_warn()“
Configuration-
SW Com-
SW Com-
„get_v()“
ponent n
ponent 3
Description
Description
Description
Description
Descript.
Configuration-
ECU1
System-
- Description
Descript.
Configuration-
1,
ECU2
... - Description
Descript.
- Description 2, 5,ECUm
- Description
- ... - Description 6, k,
- ... - Description n,
- Resources
- ...
- ... - Ressources
- ... - Ressources
...
AUTOSAR-System Definition (Distribution of SW-Compo- - ...
nent-Descriptions considering resources available)
SystemDescription
ECU-Resource
ECU-Resource
ECU-Resource
ECU-Resource
- e.g. mapping of signals
ECU m
-Description
-Description
-Description
-Description
ECU 2
ECU 3
ECU 1
...
to CAN matrices
- ...
AUTOSAR-Configuration
ECU1
Configuration-
System Description configuration of
Descript. ECU1 the AUTOSAR-RTE
- Description 1, - e.g. mapping of signals
- Description 2, to CAN matrices
- ... configuration of
- ... AUTOSAR OS
- Resources
configuration
of MCAL
AUTOSAR - ECU Configuration Generator
Configuration
AUTOSAR-RTE-Config-Info of COM stack
- communication mechanisms
- transport protocols
etc
- ...
= tool based
Application SW AUTOSAR-Library
Body of the - communication
SW components - transport protocols, ...
(code, macros, Objects, ...)
SW-Components ECU1
AUTOSAR-Configuration (derived partially from the Virtual Function Bus)
ECU1 Tooling
AUTOSAR-
configuration of AUTOSAR-RTE
RTE
the AUTOSAR-RTE
Generator
configuration of OS
AUTOSAR OS Generator OS
configuration MCAL-
MCAL COM
of MCAL Generator
cd Package Overview
M3: Model of the Metamodel
GenericStructure
(Meta-Metamodel)
(Defines UML Modeling Elements)
SystemTemplate
ConnectorPrototype
AssemblyConnectorPrototype
.XML .XML
0..* 0..*
PortPrototype
Configure PortPrototype
+provider
RPortPrototype
PPortPrototype +requester
ECU Extract ECU ECU 1
1
of System Configuration
Configuration Description +pPort * +rPort *
:System
+requiredInterface 1
+providedInterface
ARElement
1
¾ Methodology
PortInterface
+ isService: Boolean
Easy maintenance
Consistent terminology
The meta model approach and the tool support for specifying the
2 AUTOSAR information model allow working at the right level of
abstraction.
Complex
Operating
Device
System Semantics of Interfaces: Drivers
Standardized
Physical properties, units, etc.
Interface
Basic re-use
Supporting Software
across product
Micro- lines
controller
In scope of AUTOSAR workpackages
Abstraction specifying application
interfacesECU-Hardware
¾ SHORT TERM: OEM is applying AUTOSAR Naming Convention more than 10.000
interfaces and calibrations data for industrial purposes after two years of intensive work
on the specification of the naming convention
¾ Middle Term: Results are foreseen as an “AUTOSAR Application Interfaces Handbook”
to support internal design & development of vehicle functions as much as support for
exchange in project where suppliers are tied.
Application Actuator Sensor Application
Software Software Software Software
Component Component Component AUTOSAR Component
AUTOSAR software
Interface Interface Interface Interface
Standardized
layered architecture
Standardized
Interface
AUTOSAR
Interface
Standardized
Interface ..............
AUTOSAR
Interface
AUTOSAR
Interface
ECU
integrated by TIER- B
Application behaviour
Services Communication Abstraction
Standardized
Inteface
developed by TIER-B wrt OEM
Complex
Operating
Device
System
Drivers
interfaces
10.x interfaces functional specifications Microcontroller
Abstraction
ECU-Hardware
OEM Components
interfaces
specifications integrate Application
Software
Actuator
Software
Sensor
Software
Application
Software
AUTOSAR
several application
Component Component Component Component
Software
X.y
SW-C X.z
AUTOSAR
Interface
AUTOSAR
Interface
AUTOSAR
Interface
AUTOSAR
Interface
AUTOSAR software
interfaces AUTOSAR Runtime Environment (RTE)
layered architecture
Application behaviour Standardized
Standardized
AUTOSAR
Standardized
..............
AUTOSAR AUTOSAR
integrated by TIER-A
developed by TIER-A wrt OEM
Interface Interface Interface Interface
Interface
ECU
Services Communication Abstraction
10.x interfaces
interfaces functional specifications Standardized
Interface
Standardized
Interface
Standardized
Interface
Standardized
XML
Inteface
Complex
Operating
Device
System
Drivers
Microcontroller
Abstraction
ECU-Hardware
OEM_N
OEM_2
Components
Components
interfaces
OEM_1 interfaces
specifications
Components specifications
integrate several
interfaces integrate several
application
specifications application
interfaces
integrate several interfaces
application XML
interfaces
XML
XML
k
h o u l d wor
S pt
t attem
Application Actuator Sensor Application
Software Software Software Software
Component Component Component AUTOSAR Component
a t f ir s AUTOSAR
Interface
AUTOSAR
Interface
AUTOSAR
Interface
Software AUTOSAR
Interface
..............
Standardized
Standardized Standardized AUTOSAR AUTOSAR
AUTOSAR
Interface Interface Interface Interface
Interface
ECU
Services Communication Abstraction
Standardized
Inteface
10.x interfaces
Complex
Operating
Device
System
Drivers
Supplier
Interface
Microcontroller
Abstraction
ECU-Hardware
SW-C Model and implement only
once
container
Example
Data Type Name LongAccBase
…
Data Type Name YawRateBase
ESP-Sensors
ESP-Sensors
Description Yaw rate measured along vehicle z- axis
(i.e. compensated for orientation).
Coordinate system according to ISO
Base Sensor Signals
I1
Interface of ESP
8855
and VLC
2nd
2nd Yaw
Yaw I6
ESP
ESP -32768..+32767
Standard Signals
Rate
Rate Controller
Controller SW-Component
SW-Component
Physical Range -2,8595..+2,8594
from ESP
I2
Physical Offset 0
Information signals
from other functions /
System-level Brake domains
Actuator Interface I3
I7 Command signals to Unit rad/sec
other functions /
… ….
domains
I5
OK
Chassis Domain
ActualVehicleSpeed
CentralLockingMaster
VehicleLongSpeed DataElement
Name DataType
ESP ACC VehicleLongSpeed VehicleLongitudinalSpeed
Steering
SSM Min Bit; size; Res; phys low; phys up; Unit
Suspension ?? ?? ?? ?? ?? ??
EPB
… ?
VLC
AUTOSAR RTE
Standardized Std. AUTOSAR Standardized AUTOSAR AUTOSAR
Interface Interface Interface Interface Interface
Communi- ECU
Services cation Abstraction
Standardized
Complex
Operating Device
System Drivers
Standardized Interface
DIO PWM
DIO CAN Driver
Microcontroller Abstraction
ECU-Hardware
CAN Bus
Application Software
Software
standardized
AUTOSAR
HW-specific
Hardware
Hardware
http://www.autosar.org
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