Automotive Systems - Day 1
Automotive Systems - Day 1
Day 1
Introduction
Sensors for ADAS/AD
Requirements Management & Analysis
Rev. 1.0
ORGANISATIONAL TOPICS
Recognition of Credits
▪ Presence and participation during the block week will be recognized with 3 ECTS –
a certificate worth 3 ECTS will be provided on the last day
▪ In combination with a homework and an oral exam, students can cover the module
“Automotive Systems” with 6 ECTS
Attendance
▪ Attendance will be monitored throughout the week
Evaluation
▪ 20 min evaluation on the last day
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 2
SCHEDULE
12:15-13:30 Lunch Break Lunch Break Lunch Break Lunch Break Lunch Break
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 3
PROF. DR.-ING. BJÖRN SCHÄFER
Education
- Ph.D. in Control Engineering from RWTH Aachen
- Dipl.-Ing. in Mechatronics from TU Darmstadt and EPFL (Lausanne, Switzerland)
- B.Sc. in Economics from FernUni Hagen
Work Experience
- since 01-Oct-2022
Professor of Smart Mobility at FH Dortmund
- Engineering Project Manager ADAS/AD
at ZF Group (Gelsenkirchen)
- Project Manager ADAS/Active Safety at IAV (Ingolstadt)
- Research Associate at RWTH Aachen, Institute of Automatic Control
- ADAS SW Engineer at Hella (Lippstadt)
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 4
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 5
BUILDING BLOCKS OF FUTURE MOBILITY
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 6
LEVELS OF DRIVING AUTOMATION
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 7
EXAMPLE FOR AUTOMOTIVE SYSTEMS: ADAS/AD
SCALEABLE SENSOR CONFIGURATION FOR INCREASING AD LEVELS
L0-L1 L2 L3
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 8
EXAMPLE FOR AUTOMOTIVE SYSTEMS
AD LEVEL 3 IN MERCEDES-BENZ S-CLASS (W223)
Function description
▪ Drive off, accelerate, brake, lane-keeping
on highways up to 60 kph
▪ Hands-off, eyes-off
▪ Driver monitoring
Key Facts
▪ First Level 3 vehicle
(launched end of 2021)
▪ In the beginning: limited to approx.
13,000 km German highway
(Expansion to US, China ongoing) _______________________________________ © Mercedes-Benz
Sensorset of Mercedes-Benz S-Class (W223)
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 9
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 10
WHAT IS A „SYSTEM“?
Definitions Characteristics
▪ Interaction
▪ „A combination of interacting elements organized
▪ Hierarchical
to achieve one or more stated purposes.“
▪ Emergent
▪ „An integrated set of elements, subsystems, or
▪ Dynamic
assemblies that accomplish a defined objective. ▪ Interdisciplinary
These elements include products (hardware,
software, firmware), processes, people,
information, techniques, facilities, services, and
other support elements.“
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 11
WHAT IS EVEN „THE AUTOMOTIVE SYSTEM“?
Dictionary
Dictionary Umwelt Environment
Antriebsstrang Drive Train Werkzeug Tool
Fahrwerk Chassis Umgebung Surrounding
Fahrerassistenz Driving Assistance Fahrer Driver
Karosserie Car Body
Steuergerät Electronic Control Unit
_______________________________________ _______________________________________
(Sub-)systems of a vehicle [ASE] Vehicle and its environment [ASE]
→ There is not the „one“ automotive system, but rather a variety of systems, depending on individual scope.
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 12
INTRODUCING „SYSTEM OF SYSTEMS“
[MIT]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 13
WHAT IS „SYSTEMS ENGINEERING“?
[MIT]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 14
SOME CHARACTERISTICS
OF AUTOMOTIVE SYSTEMS
Expectations Challenges in development
▪ Safe and comfortable ▪ Increasing complexity
▪ Affordable and efficient ▪ Fast development cycles
▪ Sustainable and reliable ▪ Limited development budget
▪ Accessible and fair ▪ Many model variants
▪ Prestigious ▪ ...
▪ …
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 15
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 16
THE „V-MODEL“ IN AUTOMOTIVE Dictionary
Anforderungen Requirements
ENGINEERING
Entwicklung Development
Steuergerät Electronic Control Unit
Benutzeranforderungen Stakeholder Requirements
▪ Distinguishes between
− system level (upper part of V) and
− component level
(lower part, e.g. SW level)
▪ Represents
− breakdown of the system
to components
(on the left-hand branch of the V) and
− integration and testing (validation
verification)
(on the right-hand branch)
[Reif]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 17
Dictionary
Unterstützungsprozesse Support Processes
SUPPORT PROCESSES
Kernprozess Core Process
Anforderungen Requirements
Lieferantenmanagement Supplier Management
Qualitätssicherung Quality Management
[Reif]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 18
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 19
INTRODUCING AUTOMOTIVE SPICE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 20
AUTOMOTIVE SPICE
PROCESS REFERENCE MODEL
[ASPICE]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 21
VIDEO: AUTOMOTIVE SPICE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 22
„PLUG-IN“ CONCEPT FOR OTHER DOMAINS
[ASPICE]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 23
MODULE CONTENT I
Introduction Functional Safety (FuSa) ADAS/AD
Safety of the Intended Functionality (SOTIF)
Cyber Security
Requirements
Management
and Analysis
[ASE]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 24
MODULE CONTENT II
System Validation
System Architecture
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 25
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 26
ADAS/AD TOP LEVEL LOGICAL ARCHITECTURE
SENSE – PLAN – ACT
[Van]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 27
DEFINITION „SENSOR“
Output
Measurement signal
Sensor
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 28
AUTONOMOUS VEHICLES SENSOR ECOSYSTEM
[Vargas]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 29
SENSORS BASED ON (ELECTROMAGNETIC) WAVES
[Vargas]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 30
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 31
CAMERAS (VISIBLE LIGHT) I
_____________________________________
Stereo camera © Continental
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 32
CAMERAS (VISIBLE LIGHT) II
▪ Application
− 360° sensing around the vehicle
− Driver monitoring
▪ Function support
− Advanced Emergency Braking
(Vehicle/ Pedestrian/ Cyclist)
− Emergency Lane Keeping (ELK)
− Speed Limit Information (SLIF)
and Automatic Limitation (ISA) _____________________________________________
− Traffic Sign Assist Camera belt system © Continental Engineering Services
− Adaptive Cruise Control (ACC/ACC Stop&Go)
− Traffic Jam Assist
− Traffic Light Recognition
− Continuous Lane Centering Assist
− Head Light Assist supporting standard head lights up to matrix
beam Video: Valeo surround view
− …
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 33
COMPUTER VISION
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 34
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 35
LIDAR
▪ Time-of-flight principle
▪ Outputs 3D data + intensities
▪ Range depends on object reflectivity
− Interference from other light sources
[Vargas]
▪ High cost
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 36
ADVANCES IN LIDAR TECHNOLOGY
AND APPLICATIONS
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 38
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 39
RADAR
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 40
RADAR GHOSTS DUE TO MULTIPATH RETURN
[Mathworks]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 41
ADVANCES IN RADAR TECHNOLOGY
▪ Elevation information → 3D
▪ Pedestrian can be represented by
10 data points
(until now only 1-2)
[Randler]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 42
PRODUCT EXAMPLES
ZF AC1000T
▪ MRR mid-range radar (range 200 m)
▪ 77 GHz
▪ 70° horizontal FOV (field of view) _____________________________________
MRR AC1000T © ZF Group
Continental ARS540
▪ LRR full-range radar (range 300 m)
▪ 76…77 GHz
▪ 120° horizontal FOV
▪ High resolution
▪ Elevation measurement _____________________________________
Continental LRR ARS540 © Continental
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 43
RADAR APPLICATIONS
Currently
▪ AEB
Automated Emergency
Braking
▪ ACC
Adaptive Cruise Control _____________________________________ _____________________________________
AEB against rear-end collision © Bosch AEB turn across path © Bosch
▪ LCA Lane Change Assist
_____________________________________ _____________________________________
AEB crossing © Bosch AEB reverse © Bosch
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 44
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 45
ULTRASONIC SENSOR
[Vargas]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 46
ULTRASONIC SENSOR EXAMPLE
BOSCH
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 47
COMPARISON OF SENSORS
[Vargas]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 48
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 49
IMU (Inertial Measurement Unit)
▪ Applications
− Active Safety
− Navigation (dead reckoning)
_____________________________________
A vehicle‘s 6 degrees of freedom © The MathWorks, Inc.
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 50
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 51
GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS)
▪ Galileo (Europe)
▪ BeiDou (China)
− QZSS , Japan)
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 52
PRINCIPLES OF SATELLITE NAVIGATION I
[UBX]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 53
PRINCIPLES OF SATELLITE NAVIGATION II
[UBX]
[UBX]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 54
GNSS KEY PROPERTIES
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 55
GNSS ERROR SOURCES I
▪ Ionosphere
− Ionization causes signal delays
− Influence is frequency-dependent
− Mitigation
− dual-frequency receivers [Leica]
▪ Troposphere
− Varying density
− Humidity
− Mitigation
− Correction models
[UBX]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 56
GNSS ERROR SOURCES II
▪ Multipath effects
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 57
GNSS ERROR SOURCES
DILUTION OF PRECISION
[UBX]
____________________________________________________
Lower precision due to bad spacial distribution of satellites
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 58
FURTHER GNSS ERROR SOURCES
Intentional impairment
▪ Jamming
− Sending interfering signals, inhibiting reception
▪ Spoofing
− Sending formally valid but false signals
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 59
GNSS IMPROVEMENT
Improvement techniques
▪ PPP Precise Point Positioning
− Using a combination of correction models
▪ RTK Real-Time Kinematics
− Using a temporarily fixed base-station
− Using „carrier phase measurements“
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 60
DGPS (DIFFERENTIAL GPS)
[UBX]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 61
A-GNSS (ASSISTED GNSS)
[AGPS]
[AGPS]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 62
GENERIC GNSS RECEIVER
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 63
GNSS RECEIVER
PRODUCT EXAMPLE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 64
SENSOR FUSION
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 65
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 66
V2X
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 67
V2X
Applications I
[Smart]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 68
V2X
Applications II
© Audi AG
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 69
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 70
HD MAPS
▪ Adapted to ADAS/AD
▪ Application Use cases
− Localization - HERE HD Live Map
− Navigation - TomTom ISA
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 71
HD MAPS
[Tom]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 72
ADASIS - ADVANCED DRIVER ASSISTANT SYSTEM
INTERFACE SPECIFICATION
____________________________________________________
The ADASIS Horizon concept © ADASIS AISBL
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 73
HD MAP USE
[Tom]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 74
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 75
SENSOR MODELLING
▪ Model types
− Ideal model
− Probabilistic model
− Physical models
____________________________________________________ ____________________________________________________
Sensor models for simulation [Van] LiDAR simulation © ROS.org
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 76
DON‘T TAKE MY WORD FOR IT …
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 77
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 78
MOTIVATION FOR REQUIREMENTS
[Beyß]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 79
ADAS EXAMPLE
AEB
[Conti AEB]
▪ Function Interactions (non exhaustive) [Conti]
− Driver monitoring
− Seat belt pretension
− Close windows
− Unlock doors
− Hazard warning lights actuation
− Transmission of an accident report
[Conti AEB]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 80
SCOPE OF TODAY‘S LECTURE
… and about SYS.1
We‘ll be talking about „Requirements
the support process … Elicitation“
and SYS.2 „System
Requirements
Analysis“
(There‘s a certain overlap between the support process and the system engineering core process.)
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 81
DEFINITION OF „REQUIREMENT“
▪ Requirement
− „A requirement is a statement about a product‘s performance.“
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 82
FROM INPUT REQUIREMENTS
TO APPROVED REQUIREMENTS
[Hood]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 83
ABSTRACTION LAYERS
IN REQUIREMENTS MANAGEMENT
• Customer/stakeholder requirements
Problem domain • Example
„Why?“ „The new vehicle needs to achieve a 5 star
rating in Euro NCAP test!“
•Derived requirements
Requirements domain •Example
„The systems needs to detect vehicles closer
„What?“ than 50 m correctly under all ligthing conditions
(day/night) in at least 90% of all cases.“
•System/architecture/component design,
Solution domain implementation
•Example
„How?“ „If (VehicleSpeed == 0 or CrashDetected ==
TRUE) Then TriggerSOSCall = TRUE“
[Reif]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 84
REQUIREMENTS CATEGORIES
▪ Functional requirements
− Requirements related to the
customer-relevant function
− Example
− „A collision warning must be delivered
to the driver via an acoustic signal.“
▪ Non-functional requirements
− Example
− „The braking profile should be
parameterized with the coefficients of
a 3rd order polynomial.“
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 85
CORE ASPECTS OF REQUIREMENTS MANAGEMENT
Requirements Management
Stakeholder
Goals
System Scope
Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 86
REQUIREMENT SOURCES
STAKEHOLDERS
▪ Definition
„A stakeholder is any party with a legitimate interest in
the product.“
▪ Examples
− Customer (OEM)
− Customer (buyer/user of the vehicle)
− via marketing
− Manager
− Developer
− Safety manager
− Plant
− After-sales service
− Legislative/regulatory/normative bodies
− Road users: pedestrians, vulnerable road users, …
− …
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 87
REQUIREMENT ELICITATION
[ASPICE]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 88
REQUIREMENT ELICITATION METHODS
Elicitation
Methods
Creative Retrospective
Observation Interview Prototypes
methods Methods
Field
Brainstorming Questionnaire Reuse
observation
Switching Lessons
… …
perspectives Learned
… …
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 89
TRACEABILITY
[Hood]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 90
TRACEABILITY
LINKING BETWEEN REQUIREMENTS
[Hood]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 91
TEST ATTRIBUTE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 92
REQUIREMENTS-BASED REPORTING
[Hood]
▪ Requirements-based reporting
can give a first impression about
development progress
▪ But: Implementation effort may
vary largely between
requirements → may lead to
misapprehension
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 93
LINKING REQUIREMENTS
TO PROJECT MANAGEMENT
Linking of requirements …
[Hood]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 94
REQUIREMENTS VERSIONING
▪ Typically, sets of requirements that are agreed-upon are versioned using baselines
[Hood]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 95
V-MODEL REVISITED
[Hood]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 96
AGENDA
1. Introduction
a) Basic Definitions
b) Development Processes
i. V-Model
ii. ASPICE
2. Sensors for ADAS/AD
a) Visual Camera
b) LiDAR
c) RADAR
d) USS
e) IMU
f) GNSS
g) V2X
h) HD Map
3. Requirements
a) Requirements Management
b) Requirements Analysis
c) Exercise: Specifying and Analysing Requirements
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 97
SYSTEM REQUIREMENTS ANALYSIS
[ASPICE]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 98
„SMART“ CRITERION FOR REQUIREMENTS I
S Specific
M Measurable
A Attainable
R Realisable
T Traceable
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 99
„SMART“ CRITERION FOR REQUIREMENTS
EXAMPLES
Specific The system should warn the driver The system should warn the driver.
acoustically and visually.
Measurable The remaining distance to the collision The remaining distance to the collision object
object should be 1 m with a deviation of +/- should be sufficient.
50 cm.
Attainable The braking distance should not vary The braking distance should be independent of
assuming dry road conditions. road conditions.
Realisable The occurance of emergency braking false No emergency braking false positive is allowed
positives must be less than 2 over 10‘000 over vehicle lifetime.
km.
Traceable Automated driving can be active up to 130 Automated driving can be active up to 130 km/h
km/h according to UN regulation No. 157.
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 100
DOCUMENTING ANALYSIS RESULT IN ATTRIBUTE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 101
MODEL-BASED SPECIFICATION
Alternatives: model-based
specification
[SysML]
▪ Diagrams can be used to model
requirements
− UML/SysML models
▪ Specification models in MATLAB
Simulink that are executable
▪…
[Simulink]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 102
TOOLING
IBM RATIONAL DOORS
[Matlab]
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 104
CHALLENGES IN REQUIREMENTS MANAGEMENT
AND ANALYSIS
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 105
DON‘T TAKE MY WORD FOR IT …
▪ Requirements Elicitation
(for SW, but instructive nonetheless)
https://www.youtube.com/watch?v=pSQRetBoaRE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 106
EXERCISE
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 107
Prof. Dr.-Ing. Björn Schäfer
Faculty of Information Technology
Chair of Smart Mobililty
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 109