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Automotive Systems - Day 1

This document provides an overview of an upcoming automotive systems block week to take place from March 13-17, 2023. The block week will cover topics related to sensors for advanced driver assistance systems and autonomous driving, requirements management, and automotive system architecture. It will include lectures, demonstrations, discussions, and exercises. Students can earn up to 6 ECTS credits by attending the block week, completing a homework, and passing an oral exam. Attendance will be monitored and there will be a 20 minute evaluation on the last day of the block week.

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0% found this document useful (0 votes)
210 views109 pages

Automotive Systems - Day 1

This document provides an overview of an upcoming automotive systems block week to take place from March 13-17, 2023. The block week will cover topics related to sensors for advanced driver assistance systems and autonomous driving, requirements management, and automotive system architecture. It will include lectures, demonstrations, discussions, and exercises. Students can earn up to 6 ECTS credits by attending the block week, completing a homework, and passing an oral exam. Attendance will be monitored and there will be a 20 minute evaluation on the last day of the block week.

Uploaded by

movebe6870
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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AUTOMOTIVE SYSTEMS

Block Week 2023


March 13th -17th, 2023

Day 1
Introduction
Sensors for ADAS/AD
Requirements Management & Analysis

Prof. Dr.-Ing. Björn Schäfer

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

Time Monday Tuesday Wednesday Thursday Friday

Lecture Lecture Discussion Lecture & Lab Lecture


09:00-10:30 Introduction System Architecture White Papers Guest: Prof. Schrödel ADAS/AD
ADAS/AD Algorithms
Lecture Lecture Lecture Case Study
Sensors for ADAS/AD System Architecture Automotive SW Introduction & Group
10:45-12:15
(ctd) Development work
Safety and Security

12:15-13:30 Lunch Break Lunch Break Lunch Break Lunch Break Lunch Break

Demonstration Lecture Lecture Lecture & Exercise Case Study


Sensors on Audi Q7 Safety and Security Automotive SW SW Testing Group work
13:30-15:00
Vehicle Platform (ctd) Development (ctd)
ADAS/AD Algorithms
Lecture Lecture Lecture & Exercise Lecture Case Study
Requirements Management and Model-based System Validation Group Presentation
15:30-17:00
Management and Support Processes Development and
Analysis MATLAB/Simulink

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 ▪ ...
▪ …

→ That makes automotive system engineering a complex task

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

- Complementing the engineering process


(core process)

[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

“ASPICE (Automotive Software Process Improvement


Capability dEtermination) is an industry-standard guideline
for evaluating software development processes. Introduced
in 2005, ASPICE helps automotive suppliers incorporate
best practices to identify defects earlier in development
and ensure that OEM requirements are met.“
[Aptiv]

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

Automotive SPICE - Over SIMPLIFIED

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

Management and Support Processes

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

Sensors for ADAS/AD

Automotive SW Development SW Testing

ADAS/AD Algorithms [ASE]

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“

Classical definition Definition in ADAS/AD context


„A sensor converts a physical „A sensor is a source of
(mostly non-electrical) information about a vehicle‘s
measurement into an electric environment or its location,
output signal.“ orientation, and dynamical state.“
Disturbance

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

▪ Mono(cular) or stereo vision


− Stereo vision able to recovering depth information

▪ Widely used _____________________________________


Mono camera ZF S-Cam 4.8 © ZF Group
▪ High resolution
▪ High dynamic range, low noise
▪ Differentiate colors
▪ Low cost
▪ Typical specs (ZF S-Cam 4.8)
− Field of view 100° horizontal/60° vertical with 1,8 MP
− Ready for 5 star Euro NCAP rating 2020+

_____________________________________
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

▪ CV is about image processing – analysis – understanding


▪ Raw image data needs sophisticated processing before it
can be used for ADAS/AD
▪ Real-time requirement → high computational load
▪ Extensive use of machine learning (deep neural networks)
▪ Output
− Object detection and tracking
(road users, pedestrians, animals, obstacles, …)
− Road sign/traffic light detection
− Road analysis (boundaries, lanes, pavement markings …)
− Free space detection
− Ego motion
− Surround image/video

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

▪ LiDAR = Light Detection and Ranging


▪ (Near-)infrared wavelength
− 950 nm wavelength, restricted power due
to eye-safety
− 1550 nm wavelength with higher
power/range

▪ 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

“Classic” technology: LiDAR scanner


▪ 3D LiDAR with typically 360° in azimuth and 20° in
elevation traditionally based on scanner device
▪ Scanning LiDARs: the platform emits pulses from _____________________________________________________
a set of diodes mounted on a rotating pod or by Different scanning mechanisms [Scan]
using a rotating multi-faceted mirror
▪ Moving parts in these designs (rotates at 300–
900 rpm) represent points of high failure rate in
rough driving environments

Evolution: Solid-State LiDAR


▪ No movable parts
→ high robustness and reliability
▪ Compact package
▪ Low power consumption
▪ 360° perception via fusion of multiple sensors _____________________________________________________
Laserscanner in Audi A8 (2017) © Audi AG
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 37
LIDAR PRODUCT EXAMPLES

ibeoNEXT Solid-State LiDAR


▪ No movable parts
▪ Up to 250 m range
▪ Configurable FOV 11°/60°/120°
▪ High resolution of 0.05°
10‘240 pixel per image
▪ Image rate 25 fps or higher
▪ Output
− 3D point cloud and
intensity image („4th dimension“)
− Interface: Automotive Ethernet
▪ Video: Hesai LiDAR sensors [Ibeo]

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

▪ RADAR = Radio Detection and Ranging


▪ Function principle
− Sends out radio waves
− Radio waves are reflected by an object and collected
− Round-trip delay time provides an object‘s distance
− Object velocity via doppler effect
[Vargas]
▪ Outputs 2D information
− distance and width of an object – no height

▪ Different ranges, operating at different PA Power amplifier


frequencies LNA Low noise amplifier
− LRR Long Range Radar IF Intermediate frequency signal
− MRR Mid Range Radar ADC Analog digital converter
− SRR Short Range Radar DSP Digital signal processing

▪ Robust with regard to lighting conditions and


weather

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

Imaging RADAR / HD RADAR


for automated driving
▪ ~192 channels (16x channels
current sensors)
▪ Growing antenna area
▪ Higher resolution [Randler]

▪ Elevation information → 3D
▪ Pedestrian can be represented by
10 data points
(until now only 1-2)
[Randler]

▪ Arbe Example Video


_____________________________________________________
▪ NXP Example Video 4D RADAR © Aptiv

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

With imaging RADAR


▪ AD

_____________________________________ _____________________________________
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

▪ Measuring principle: Time of Flight (ToF)


▪ Applications
− Parking Video
− Parking Assistance System PAS
− Parking Steering Control (PSC)
− Parking Space Localization (PSL)
− Parking Emergency Break System (PEB)
− Pull-out Control (POC)
− Automatic Park Assistant (APA)
− Remote Park Assistant
− Blind spot detection

[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)

▪ Combines 3D acceleration sensor with 3D


gyroscopes
▪ time integration of accelerations and yaw rates
yields position/orientation
but: time integration of errors results in _____________________________________
IMU 6DoF SC13S © Continental AG
position/orientation drift
▪ Product example
Continental IMU 6DoF
− Gyroscope ±300°/s
− Accelerometer ±5 g
− CAN interface

▪ 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)

▪ GPS Global Positioning System (USA)

▪ Galileo (Europe)

▪ GLONASS Global Navigation Satellite


System (Russia)

▪ BeiDou (China)

▪ local systems ____________________________________________________


− IRNSS/India Generic architecture of a GNSS [UBX]

− QZSS , Japan)

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 52
PRINCIPLES OF SATELLITE NAVIGATION I

▪ Satellites with a known position


transmit a regular time signal
▪ Based on measured travel time,
the distance/position is
calculated
[UBX]

[UBX]

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 53
PRINCIPLES OF SATELLITE NAVIGATION II

▪ To determine your position


based on satellites, at least four
satellites are needed
− Calculation of position in 3D and time

[UBX]

[UBX]

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 54
GNSS KEY PROPERTIES

▪ Positioning with a few meters down to a few centimeters


precision
▪ Precise time signal
▪ Limitations
− Availability based on satellite signal reception
signal cannot penetrate buildings or hills e.g.

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

▪ DOP (Dilution of Precision) is


metric for quality of spacial
distribution of the satellites
▪ The lower the DOP, the more
[UBX]
precise the position ____________________________________________________
Higher precision due to good spacial distribution of satellites
▪ Recommendation
− Use more satellites
− Do not use satellites that are close to
the horizon

[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

▪ Ephemeris data (satellite flight trajectories)


▪ Satellite clocks

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

Standalone GNSS positioning faces availability and precision


issues

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“

→ not ideal for ADAS/AD

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 60
DGPS (DIFFERENTIAL GPS)

▪ Reference stations with their


position known exactly
continuosly measure signal
travel time and derive correction
values
▪ Correction data is distributed to
user receivers using terrestrial
transmission or via geo-
stationary staellites
(RTCM format)

[UBX]

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 61
A-GNSS (ASSISTED GNSS)

▪ Signal acquisition is a bottleneck of satellite-based


positionig
− power-hungry process that involves detecting signals from orbiting
GNSS satellites, downloading the almanac of their constellation, and
each individual satellite’s ephemeris data, which are transmitted via the
GNSS signal
[UBX]
▪ Receiver cold start
− GNSS receiver does not have valid ephemeris data stored in memory
− Takes around 30 seconds in perfect conditions
− can take considerably longer in challenging conditions or fail altogether

▪ A-GNSS increases satellite availability, particularly in


challenging scenarios such as urban canyons and when
exiting buildings or tunnels
▪ Product example: u-blox “AssistNow”
− Designed for devices with cellular connectivity
− shortens the time to first fix to around three seconds

[AGPS]
[AGPS]

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 62
GENERIC GNSS RECEIVER

▪ NMEA = widely GPS used data interface format


− 1. GGA (GPS Fix Data, fixed data for the Global Positioning
System)
− 2. GGL (Geographic Position – Latitude/Longitude)
− 3. GSA (GPS DOP and Active Satellites, degradation of
accuracy and the number of active satellites in the Global
Satellite Navigation System)
− 4. GSV (GNSS Satellites in View, satellites in view in the
Global Satellite Navigation System)
− 5. RMC (Recommended Minimum Specific GNSS Data)
− 6. VTG (Course over Ground and Ground Speed, horizontal
course and horizontal velocity)
− 7. ZDA (Time & Date)

▪ RTCM = DGPS correction data standard [UBX]

▪ Time pulse with one pulse per second

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 63
GNSS RECEIVER
PRODUCT EXAMPLE

Qualcomm Automotive Positioning Solution


▪ Multi-frequency (L1, L2, L5 bands)
▪ Cloud-based AGPS
▪ Dead reckoning
using vehicle information and inertial sensors extend
coverage and performance in GNSS-denied/compromised
environments
▪ Lane-level accuracy
▪ Video: „Vision Enhanced Precise Positioning“

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 64
SENSOR FUSION

▪ Sensor fusion integrates signals from


different sensors to provide accurate and
robust information
▪ Example
Navigation sensor fusion of GNSS with
IMU
____________________________________________________
Uncoupled sensor fusion [Van]

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

▪ Continuous, low-latency, and


secure data exchange between
moving vehicles (V2V) and
infrastructure or mobile devices
(V2X)
▪ Two standards
− DSRC – Dedicated Short Range
Communication
− WLAN / IEEE 802.11p
− Cellular V2X (C-V2X)
− 4G(LTE)/5G © Continental AG

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

▪ Surpasses content of navigation


maps (SD maps)
− Higher resolution (few cm)
− Higher level of detail
− Higher depth of information

▪ Highly accurate, realistic road


representation
▪ Constantly updated
___________________________________________________________________________
▪ Cloud-based, crowd-sourced HD map © TomTom

▪ 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 …

▪ 4D Imaging Radar Is Now


https://www.nxp.com/applications/automotive/adas-and-highly-
automated-driving/automotive-radar-systems:RADAR-
SYSTEMS?tid=vanradar

▪ High-performance positioning for automotive applications


https://www.qualcomm.com/products/application/automotive/p
ositioning-solutions

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

▪ AEB = Safety function “Automated Emergency


Braking”
▪ Introducing AEB as we are going to refer to this
function during the lecture
▪ Euro NCAP Testing Crash Avoidance Systems - on
the Road with AEB
https://www.youtube.com/watch?v=AJ4WXgWa
Ngs

[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

▪ Input requirements cannot be


used for further development
▪ A baseline of approved
requirements is used for the
following development steps

[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.“

Different requirements categories [ASE]


These two types are not always
clearly distinguishable …

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

▪ Traceability is the continuous


linking from each high level
requirement (system level) to
low level requirements (e.g. SW
design requirements) and vice
versa
▪ Traceability can also extend to
test cases and test reports

[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

▪ Requirements should be testable


▪ A requirement can be directly
linked to a test case ID in an
attribute
▪ Bi-directional traceability
▪ End-to-end traceability from
user requirement to test result
[Hood]

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]

▪ … to the implementation plan


makes implementation order
visible.
▪ … to the project resource plan
makes effort and responsibilities
transparent.
▪ … to project budget improves
budget controlling.

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]

▪ Break-down on the left-side of


the V
▪ Integration and
test/validation/acceptance on
the right side of the V

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

Remember to write SMART requirements!

S Specific
M Measurable
A Attainable
R Realisable
T Traceable

… and complete and atomic and understandable.

The acronym SMART may have other meanings in different contexts.

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 99
„SMART“ CRITERION FOR REQUIREMENTS
EXAMPLES

Good example Bad example

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

▪ Requirement is analysed using


quality criteria [Hood]

▪ Analysis result is documented in


a separate attribute for each
requirement

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 101
MODEL-BASED SPECIFICATION

▪ Requirements are usually


documented in text form

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

Dynamic Object Oriented


Requirements System

▪ Widespread used in the


automotive industry
▪ Used to manage, view, store, filter, link, … requirements
▪ Uses attributes to add information to requirements
− Requirement ID
− Responsible
− Status (accepted, rejected, in work, in review, …)
− Related milestone
− …
▪ Interfaces to other engineering SW tools
Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 103
TOOLS
INTERFACE DOORS - MATLAB
▪ Establish traceability from MATLAB and
Simulink
▪ Link between design, tests, and requirements
▪ Establish traceability from low-level
requirements in Simulink to high-level
requirements in DOORS.
▪ Identify gaps in implementation and verification
using metrics in Requirements Toolbox
▪ Change detection and cross-domain traceability
can be used to conduct change impact analysis.

[Matlab]

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 104
CHALLENGES IN REQUIREMENTS MANAGEMENT
AND ANALYSIS

▪ Stakeholders are unaware of their needs


▪ Boundary of the system is ill-defined
▪ Conflicting stakeholders
▪ Elicitation is high effort task
▪ Requirements are unstable and change over time
▪ „Obvious“ requirements being overlooked
▪ Managing vehicle variants
▪ Identify requirements that are architecture-relevant (and
ignore irrelevant requirements for architecture design)
▪…

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

▪ SYS.2 System Analysis


https://www.youtube.com/watch?v=77hYE-B2b5U

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 106
EXERCISE

▪ Cf. AEB slide

1. Write stakheolder requirements (problem


domain/why?) for AEB.
2. Derive system requirements (what?) for AEB object
detection.
3. Derive SW requirements for braking phase.
4. Write related requirements on the levels from excercise
1-3 plus a validation test case to show traceability for
the feature „close windows“.

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

Sonnenstraße 96, 44139 Dortmund


Campus Sonnenstraße SON-A, Room A523
T 0231 9112-8498
bjoern.schaefer@fh-dortmund.de
www.fh-dortmund.de
REFERENCES
▪ [AGPS] u-blox AG, “Assisted GNSS (AssistNow).” https://www.u-blox.com/en/technologies/agnss-assistnow (accessed Nov. 01, 2022).
▪ [Aptiv] Aptiv, “What Is ASPICE?,” Aptiv. https://www.aptiv.com/en/insights/article/what-is-aspice (accessed Mar. 12, 2023).
▪ [ASE] J. Schäuffele, T. Zurawka, Automotive Software Engineering, ATZ/MTZ-Fachbuch, Springer Fachmedien Wiesbaden 2016 DOI 10.1007/978-3-658-11815-0_1
▪ [ASPICE] Automotive SPICE Process Assessment / Reference Model, Version 3.1 https://www.automotivespice.com/fileadmin/software-download/AutomotiveSPICE_PAM_31.pdf
▪ [Beyß] “Who knows what the customer really wants?” Accessed: Oct. 18, 2022. [Online]. Available: https://beyssonmanagement.com/2012/10/29/who-knows-what-the-customer-really-wants
▪ [Conti] Continental AG, “Inertialsensor (6DoF).” https://www.continental-automotive.com/DE/Trucks-Buses/Vehicle-Chassis-Body/Inertial-Measurement-Sensors/Inertial-Sensor-(6DoF) (accessed Nov. 01, 2022).
▪ [Conti AEB] Continental Engineering Services, “Autonomous Emergency Braking (AEB).” Accessed: Oct. 18, 2022. [Online]. Available: https://conti-engineering.com/technology-systems/systems-functions/aeb-system/
▪ [Hood] C. Hood, S. Wiedemann, S. Fichtinger, und U. Pautz, Requirements Management: The Interface Between Requirements Development and All Other Systems Engineering Processes. Berlin, Heidelberg: Springer Berlin /
Heidelberg, 2007. doi: 10.1007/978-3-540-68476-3.
▪ [Ibeo] ibeo automotive, “ibeoNEXT Solid-State Lidar: Die neue Generation,” Nov. 01, 2022. https://www.ibeo-as.com/de/produkte/sensoren/ibeonext
▪ [Leica] Leica Geosystems AG, “Einführung in die GPS Vermessung (Global Positioning System).” Accessed: Nov. 01, 2022. [Online]. Available: https://www.schule-bw.de/faecher-und-schularten/berufliche-
bildung/gartenbau/pdf_dateien/vermessung/einfuehrung_gps_vermessung.pdf
▪ [Mathworks] The MathWorks Inc., “Simulate Radar Ghosts Due to Multipath Return.” https://de.mathworks.com/help/driving/ug/radar-ghost-multipath.html (accessed Nov. 01, 2022).
▪ [Matlab] “Working with IBM Rational DOORS 9 Requirements.” Accessed: Oct. 18, 2022. [Online]. Available: https://de.mathworks.com/help/slrequirements/ug/requirements-based-design-example-with-doors.html
▪ [MIT] https://ocw.mit.edu/courses/esd-33-systems-engineering-summer-2010/pages/lecture-notes/
▪ [Reif] K. Reif, Automobilelektronik: Eine Einführung für Ingenieure. Wiesbaden: Springer Fachmedien, 2014. doi: 10.1007/978-3-658-05048-1.
▪ [Reif2] K. Reif, Automotive Mechatronics: Automotive Networking, Driving Stability Systems, Electronics. Wiesbaden, GERMANY: Springer Fachmedien Wiesbaden GmbH, 2014. Accessed: Nov. 01, 2022. [Online]. Available:
http://ebookcentral.proquest.com/lib/fh-dortmund/detail.action?docID=1802593
▪ [Randler] Martin Randler, “Rundumblick in 4D.” https://www.zf.com/mobile/de/stories_20929.html (accessed Nov. 01, 2022).
▪ [Scan] YellowScan, “What are the different scan patterns of LiDAR systems?” https://www.yellowscan-lidar.com/knowledge/what-are-the-different-patterns-of-lidar-scanners/ (accessed Nov. 01, 2022).
▪ [Smart] A. Khamis, Smart Mobility: Exploring Foundational Technologies and Wider Impacts. Berkeley, CA: Apress, 2021. doi: 10.1007/978-1-4842-7101-8.
▪ [Simulink] “What Is a Specification Model?” Accessed: Oct. 18, 2022. [Online]. Available: https://de.mathworks.com/help/sldv/ug/what-is-specification-model.html
▪ [SysML] E. Andrianarison and J.-D. Piques, “SysML for embedded automotive Systems: a practical approach,” 2010.
▪ [Tom] TomTom International, “Extending the vision of automated vehicles with HD Maps and ADASIS.” Accessed: Nov. 01, 2022. [Online]. Available:
https://download.tomtom.com/open/banners/Elektrobit_TomTom_whitepaper.pdf
▪ [UBX] u-blox AG, GPS Essentials of Satellite Navigation Compendium. 2009. [Online]. Available: https://content.u-blox.com/sites/default/files/products/documents/GPS-Compendium_Book_%28GPS-X-02007%29.pdf
▪ [Van] S. Van Uytsel and D. Vasconcellos Vargas, Eds., Autonomous Vehicles: Business, Technology and Law. Singapore: Springer Singapore, 2021. doi: 10.1007/978-981-15-9255-3.
▪ [Vargas] J. Vargas, S. Alsweiss, O. Toker, R. Razdan, and J. Santos, “An Overview of Autonomous Vehicles Sensors and Their Vulnerability to Weather Conditions,” Sensors, vol. 21, no. 16, p. 5397, Aug. 2021, doi:
10.3390/s21165397.

Mar 13th-17th, 2023 Automotive Systems Block Week 2023 | Day 1 | Björn Schäfer 109

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