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2013 | OriginalPaper | Chapter

8. Design and Safety Analysis of a Drive-by-Wire Vehicle

Author : Peter Bergmiller

Published in: Automotive Systems Engineering

Publisher: Springer Berlin Heidelberg

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Abstract

The contribution introduces a modular and flexible experimental vehicle for investigation of novel vehicle electronics. The experimental vehicle features 4-wheel-drive, 4-wheel-steering and electric brakes. Each wheel can be actuated individually. All actuators are controlled by-wire without mechanical or hydraulic fall-back layer. To evaluate the safety of the experimental vehicle on the topmost functional layer (“vehicle layer”), a novel approach for targeted safety analysis is introduced. The approach especially aims at by-wire vehicles with a high degree of functional redundancy between different actuation units and strong integration of driving functionalities as steering or braking. For demonstration, the results of a simplified hazard analysis according to ISO 26262 for operation of the experimental vehicle in a well defined environment are presented. The results serve as a basis for safety evaluation of the vehicle using the introduced approach.

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previous chapter Objective Controllability Assessment for Unintended ADAS Reactions

next chapter Reference Systems for Environmental Perception

Torque vectoring refers to an approach where individual wheels of a vehicle are driven with individual drive torques. When driving the wheels at one side of the vehicle with a different torque than the wheels of the opposing side, an additional yaw moment is generated. For further information including evaluation of safety criticality see, e.g., Euchler et al. (2010).

In this context, “by-wire” control means that actuators in the vehicle are controlled purely electronically without any mechanical or hydraulic linkage between the actuator and the driver. MOBILE implements by-wire control for braking, steering, and the drive motors.

ISO 26262: Road Vehicles—Functional Safety, edition 2011.

According to ISO 26262, a safety goal is a “top level safety requirement as a result of the hazard analysis and risk assessment” (ISO 26262-1:2011, p. 14).

ISO/IEC 42010:2007 defines architecture as follows: “The fundamental organization of a system, embodied in its components, their relationships to each other and the environment, and the principles governing its design and evolution”.

The architecture of a system can be described from different views depending on the goal of the description. Examples can be business views, process views, but also functional or hardware views (Masak 2010). For some of these views guidelines for standardized diagrams exist, e.g., UML for software systems (Starke 2008).

In the following, hierarchical layers are always referred to as “X level” or “X layer” (with X standing for vehicle, system, etc.) to clearly distinguish between referencing of a layer and the general use of the words system, component, or element to refer to certain elements independent from layers.

Original Equipment Manufacturer, e.g., BMW, AUDI, Toyota for the automotive industry

ISO 26262 defines failure as the “termination of the ability of an element to perform a function as required” (ISO26262-1:2011, p. 7).

United Nations Economic Commission for Europe: Brake System Homologation.

Electromagnetic interference.

Note: For fly-by-wire systems at least quadruple redundancy for military aircrafts and higher degrees of redundancy for civil aviation are required (Collinson 1999).

In a fault tolerant unit, a defined number of faults does not lead to a failure of the overall unit, e.g.,Wilwert et al. (2005).

A common cause failure is a “failure of two or more elements of an item resulting from a single specific event or root cause” (ISO26262-1:2011, p.3).

For comparison: In aviation, sensors are sampled about \(100\) times per second which roughly equals the minimal demands in the automotive field (data for A320, Collinson (1999)).

Knowledge denotes the “awareness, consciousness, or familiarity gained by experience or learning” (Collins 2010). In the project MOBILE, the “self-awareness” of the vehicle is considered. The “experience” is provided at design time based on experiments or statistics.

Official Translation by the Langenscheidt Translation Service of the German Civil Code (BGB) §823 in the version of its promulgation from 2nd of January 2002, last amended by statute of 28th of September 2009.

IEC 61508: Functional Safety of Electrical/Electronic/Programmable Electronic Safety-related Systems, edition 2.0.

Automotive Safety Integrity Levels (ISO26262-1:2011, p. 2).

ISO 26262 defines the safe state as “the operating mode of an item without an unreasonable level or risk” (ISO26262-1:2011, p.14), while risk refers to the “combination of the probability of occurrence of harm and the severity of that harm” (ISO26262-1:2011, p.13).

The Automotive Safety and Integrity Levels (ASILs) are used to classify hazards according to ISO 26262. ASIL levels range from A (least stringent) to D (most stringent).

Controllability refers to the “ability to avoid a specified harm or damage through the timely intervention of the persons involved, possibly with support from external measures” (ISO26262-1:2011, p. 4).

In this context, the severity gives an “estimate of the extent of harm to one or more individuals that can occur in a potentially hazardous situation” (ISO26262-1:2011, p. 16).

Exposure classifies the frequency of being in a “an operational situation that can be hazardous if coincident with [the currently investigated] failure” (ISO26262-1:2011, p. 6).

According to ISO 26262 ASIL decomposition denotes the “apportioning of safety requirements redundantly to sufficiently independent elements” (ISO26262-1::2011, p.2).

A method is “a way of proceeding or doing something, esp a systematic or regular one” Collins (2010). During a development process, (multiple) methods can be applied to achieve necessary results (Hammerschall 2008).

“A cut set refers to the group of those elements or units which will make the system fail if their failure occurs. The minimum number of such units form the minimal cut set” (Verma and Ajit 2010, p. 85].)

The structure function defines the “dependence of the system state on the state of its components” (Gertsbakh (2000), p.1).

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Title: Design and Safety Analysis of a Drive-by-Wire Vehicle
Author: Peter Bergmiller
Publisher: Springer Berlin Heidelberg
Book: Automotive Systems Engineering
Print ISBN: 978-3-642-36454-9

Electronic ISBN: 978-3-642-36455-6

Copyright Year: 2013
DOI: https://doi.org/10.1007/978-3-642-36455-6_8

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