1 Automotive Sensor System Architectures
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1 smart microwave sensors GmbH 1 Automotive System Architectures 1.1 Vehicle (Moving Platform) Applications In vehicle (moving platform) applications, usually the sensor output is a list of detected targets (reflectors) on the sensor CAN bus (referred to as internal CAN) with the parameters - Range - Angle (Position) - Radial Speed - Reflectivity level - Type of Target (Reliability Figure). In addition to that, status and diagnose data form the sensor are reported. For experimental vehicles the tracking (filtering and smoothing of all detected reflectors over time) is done in an additional unit (central ECU BUMPER-08xx or a PC or the like). In most cases, however, those tracking algorithms will be integrated in the sensor. The result of the tracking is an object list with the following parameters: - x position - y position - x component of the velocity - y component of the velocity - type of reflector - size of reflector. When multiple sensors are applied, the sensor data fusion algorithms may be run on a data fusion PC or the data fusion central ECU BUMPER-08xxxx. In most cases, however, those data fusion algorithms will also be integrated in the sensor. In any case, a visualization both of the targets and the objects is possible using the DriveRecorder software in any PC equipped with a CAN card. In vehicle applications certain data have to be transmitted to the sensor(s) and (if existing in the system architecture) the fusion / tracking / central ECU. Every sensor requires the information: actual ego velocity of the host vehicle and yaw rate of the host vehicle. Automotive Radar System Architectures.doc Page 1 of 6 February 17, 2012
2 1.1.1 Single Setup (FCW or ACC) The sensor will integrate: - detection software - tracking software - execution of the fusion of vehicle dynamics data and the radar data - path prediction - object to lane mapping - selection of most relevant object in lane ahead - calculation of a warning algorithm. smart microwave sensors GmbH Automotive Radar System Architectures.doc Page 2 of 6 February 17, 2012
3 1.1.2 Single Setup with Central ECU / Control Box (ACC or FCW) The central ECU / control box may integrate: - tracking software - execution of the fusion of vehicle dynamics data and the radar data - path prediction - object to lane mapping - selection of most relevant object in lane ahead - Calculation of a warning algorithm. smart microwave sensors GmbH The tasks of the control boy may also be reduced to the creation of the warning signal only (human machine interface). In that case all other algorithms can be run on the sensor. Automotive Radar System Architectures.doc Page 3 of 6 February 17, 2012
4 smart microwave sensors GmbH Dual Setup Example (Lane Change Assist with Blind Spot Detection or Blind Spot Detection only) without Control Box (Master-Slave Setup) ID1 LED (Warning Signal right side) Internal CAN Bus Proprietary Private LCA/BSD System HI Speed Data Bus Origin Visualization (for development) Vehicle Dynamics CAN Bus LED (Warning Signal left side) ID Dual Setup Example (Lane Change Assist with Blind Spot Detection or Blind Spot Detection only) with Control Box ID1 LED (Warning Signal right side) Internal CAN Bus Origin Visualization Control Box Proprietary Private LCA/BSD System HI Speed Data Bus (for development) Vehicle Dynamics CAN Bus LED (Warning Signal left side) ID0 Automotive Radar System Architectures.doc Page 4 of 6 February 17, 2012
5 smart microwave sensors GmbH Multi Setups with Central ECU Examples Automotive Radar System Architectures.doc Page 5 of 6 February 17, 2012
6 1.1.6 Multi Setups in Master-Slave Configuration Example smart microwave sensors GmbH The sensor system may consist of a number of individual sensors (Slaves) while one of them works as central processing unit (Master). The latter controls the whole system, interprets the sensor data and communicates with the vehicle. ID0 Internal CAN Bus Origin Visualization ID1 Automotive Radar System Architectures.doc Page 6 of 6 February 17, 2012
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