Inter- and intra-Vehicle communications

Inter- and Intra-Vehicle

Communications

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Inter- and Intra-Vehicle

Communications

Gilbert Held

Boca Raton New York

Auerbach Publications is an imprint of the

Taylor & Francis Group, an informa business

AU5221.indb 3 10/3/07 2:16:15 PM

Auerbach Publications

Taylor & Francis Group

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© 2008 by Taylor & Francis Group, LLC

Auerbach is an imprint of Taylor & Francis Group, an Informa business

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Library of Congress Cataloging‑in‑Publication Data

Held, Gilbert, 1943‑

Inter‑ and intra‑vehicle communications / Gilbert Held.

p. cm.

Includes bibliographical references and index.

ISBN 978‑1‑4200‑5221‑3 (hardback : alk. paper)

1. Motor vehicles‑‑Automatic control. 2. Intelligent control systems. 3.

Traffic engineering. 4. Transportation, Automotive‑‑Communication systems.

I. Title.

TL240.H445 2007

629.2’7‑‑dc22 2007019850

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AU5221.indb 4 10/3/07 2:16:15 PM



Dedication

For over 20 years I have taught different graduate courses at Georgia College and

State University. During this time I have been blessed to have students that livened

up the classroom experience by not only being attentive, but also asking thought￾provoking questions. In recognition of those students, this book is dedicated to

those who asked both “why” and “how” as we examined various communications

concepts.

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vii

Contents

Preface.......................................................................................................... xiii

Acknowledgments..........................................................................................xv

About the Author.........................................................................................xvii

Chapter 1

Introducing the Smart Vehicle................................................................1

1.1 Intra-Vehicle Communications...........................................................2

1.1.1 Communications Protocols.....................................................2

1.1.2 Additional Intra-Vehicle Communication Functions...............2

1.1.3 Systems and Sensors................................................................2

1.1.3.1 Air Bag System........................................................3

1.1.3.2 Air Conditioning and Climate Control System.......4

1.1.3.3 Braking System .......................................................4

1.1.3.4 Crash Sensors..........................................................7

1.1.3.5 Engine Control Unit ...............................................8

1.1.3.6 Electronic Stability Control...................................11

1.1.3.7 Steering .................................................................11

1.1.3.8 Infotainment System.............................................12

1.1.3.9 Integrated Starter Generator..................................14

1.1.3.10 Lighting System ....................................................17

1.1.3.11 Power Train...........................................................17

1.1.3.12 Seat Belt Sensors....................................................18

1.1.3.13 Tire Pressure Monitoring System ..........................19

1.1.3.14 Window and Door System ....................................19

1.2 Inter-Vehicle Communications .........................................................20

1.2.1 Cooperative Driving..............................................................21

1.2.1.1 Accident Warning .................................................22

1.2.1.2 Frontal Collision Prevention..................................22

1.2.1.3 Hazard Warning ...................................................22

1.2.1.4 Intersection Alert ..................................................23

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viii n  Contents

1.2.1.5 Overtaking and Lane Change Assistance..............23

1.2.1.6 Rear-End Collision Prevention..............................23

1.2.1.7 Road Departure Prevention...................................24

1.2.1.8 Speed Alert............................................................24

1.2.2 Consumer Assistance.............................................................24

1.2.2.1 Traffic Information................................................24

1.2.2.2 Mobile Business Support.......................................25

1.2.2.3 Multimedia Services..............................................25

1.2.3 Smart Parking .......................................................................25

1.3 Summary..........................................................................................26

Chapter 2

Communications Fundamentals............................................................27

2.1 Fundamental Concepts.....................................................................28

2.1.1 Powers of 10 ..........................................................................28

2.1.2 Frequency..............................................................................28

2.1.2.1 Signal Period .........................................................29

2.1.2.2 Wavelength ...........................................................29

2.1.3 Bandwidth ............................................................................29

2.1.4 Power Measurements.............................................................30

2.1.4.1 The Bel..................................................................30

2.1.4.2 Log Relationships..................................................30

2.1.4.3 The Decibel...........................................................32

2.1.4.4 Decibel above 1 mW .............................................32

2.1.4.5 The Decibel Isotropic ........................................... 34

2.1.4.6 Considering Power Limits.................................... 34

2.1.4.7 Antenna Selection .................................................35

2.1.4.8 Receiver Sensitivity................................................36

2.1.5 Signal-to-Noise Ratio............................................................37

2.1.5.1 Thermal Noise.......................................................37

2.1.5.2 Categorizing Communications..............................38

2.1.6 Transmission Rate Constraints..............................................38

2.1.6.1 The Nyquist Relationship......................................39

2.1.6.2 Shannon’s Law ......................................................39

2.2 Radio Frequency Spectrum Allocation .............................................41

2.2.1 U.S. Spectrum Allocation .....................................................41

2.2.2 Band Nomenclature..............................................................41

2.2.3 Applications ..........................................................................43

2.3 Radar Operations ............................................................................ 44

2.3.1 Police Radar......................................................................... 44

2.3.1.1 S-Band Radar........................................................45

2.3.1.2 X-Band Radar .......................................................45

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Contents  n ix

2.3.1.3 Ku-Band Radar.....................................................45

2.3.1.4 K-Band Radar .......................................................45

2.3.1.5 Ka-Band Radar .....................................................45

2.3.2 Types of Radar..................................................................... 46

2.3.2.1 Laser Radar.......................................................... 46

2.3.2.2 Collision Avoidance Radar................................... 46

2.4 IEEE Wireless LANs........................................................................47

2.4.1 IEEE Standards.....................................................................47

2.4.1.1 The 802.11 Standard .............................................47

2.4.1.2 The 802.11a Standard............................................48

2.4.1.3 The 802.11b Standard ...........................................49

2.4.1.4 The 802.11g Standard............................................49

2.4.1.5 The 802.11n Standard ...........................................49

Chapter 3

Communications Technologies.............................................................51

3.1 Transmission Technologies...............................................................51

3.1.1 Cellular Communications.....................................................52

3.1.1.1 GSM .....................................................................52

3.1.1.2 CDMA..................................................................55

3.1.1.3 Bluetooth ..............................................................57

3.1.1.4 Wireless LANs ..................................................... 60

3.2 MANET.......................................................................................... 66

3.2.1 Mesh Networking .................................................................67

3.2.1.1 Network Formation...............................................67

3.2.1.2 Area of Coverage...................................................67

3.2.1.3 The IEEE 802.11s Standard ..................................68

3.2.1.4 Understanding MANET.......................................70

Chapter 4

The Local Interconnect Network..........................................................79

4.1 Overview..........................................................................................79

4.1.1 Founding Members...............................................................79

4.1.2 Goal ..................................................................................... 80

4.1.3 Applications ......................................................................... 80

4.2 The LIN Specification.......................................................................81

4.2.1 The Specification Components..............................................82

4.2.1.1 The Physical Layer.................................................82

4.2.1.2 Master–Slave Relationship ....................................83

4.2.1.3 Interference...........................................................83

4.2.1.4 Examining the Master–Slave Relationship............83

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n  Contents

4.2.1.5 Data-Link Layer................................................... 84

4.3 Summary..........................................................................................91

Chapter 5

The Controller Area Network................................................................93

5.1 Overview..........................................................................................93

5.1.1 Evolution...............................................................................94

5.1.2 CAN Versions.......................................................................94

5.1.3 Types of Controllers..............................................................95

5.1.4 Layered Architecture.............................................................95

5.1.5 The CAN Bus .......................................................................96

5.1.5.1 Signaling States.....................................................97

5.1.5.2 The Physical Layer.................................................97

5.1.5.3 Data Transmission ................................................97

5.1.5.4 Interoperability Issues............................................98

5.1.5.5 Bus Speed..............................................................99

5.1.5.6 Cable Length.........................................................99

5.1.5.7 Bus Termination ...................................................99

5.1.5.8 Cable and Cable Connectors...............................100

5.2 Message Frames..............................................................................100

5.2.1 Data Frame.........................................................................101

5.2.1.1 Standard Data Frame..........................................101

5.2.1.2 Extended Data Frame..........................................102

5.2.1.3 Arbitration ..........................................................103

5.2.1.4 Bit Stuffing..........................................................103

5.2.2 Remote Frame.....................................................................103

5.2.2.1 Operation............................................................103

5.2.3 Error Frame.........................................................................104

5.2.4 Overload Frame...................................................................104

5.3 Error Handling...............................................................................104

5.3.1 Communications Error Handling .......................................104

5.3.2 Parity Checking ..................................................................105

5.3.3 Block Checking...................................................................105

5.3.4 CAN Error Handling..........................................................106

5.3.5 Node Removal ....................................................................106

5.3.6 Error Detection Methods....................................................107

5.3.6.1 Bit Monitoring ....................................................107

5.3.6.2 Bit Stuffing..........................................................107

5.3.6.3 Frame Check.......................................................108

5.3.6.4 Acknowledgment Check .....................................108

5.3.6.5 Cyclic Redundancy Check ..................................108

5.3.7 CAN Controller Operations ...............................................109

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Contents  n xi

5.3.7.1 Controller States..................................................109

5.3.7.2 Mode Control .....................................................109

5.3.7.3 Counter Updating...............................................109

5.3.7.4 Receiver Error Counter .......................................110

5.3.7.5 Transmit Error Counter ......................................110

5.3.7.6 Error Signaling....................................................110

Chapter 6

Intra-Vehicle Communications............................................................113

6.1 Wired Communications.................................................................113

6.1.1 Network Comparison.......................................................... 114

6.1.2 Two-Tier Approach ............................................................. 114

6.1.3 LIN Applications ................................................................ 115

6.1.3.1 Localized Vehicle Area Support........................... 115

6.1.3.2 General Support Areas ........................................116

6.1.4 CAN Applications............................................................... 117

6.1.4.1 Nonautomotive Support...................................... 117

6.1.4.2 Vehicle Operations.............................................. 117

6.1.4.3 Utilization...........................................................118

6.1.4.4 Infotainment.......................................................125

6.2 Wireless Communications..............................................................126

6.2.1 Bluetooth ............................................................................126

6.2.1.1 Evolution.............................................................126

6.2.1.2 Classes.................................................................127

6.2.1.3 Operation............................................................127

6.2.1.4 Spectrum Utilization...........................................128

6.2.1.5 Modulation .........................................................128

6.2.1.6 Frequency Hopping.............................................128

6.2.1.7 Logical Channels.................................................129

6.2.1.8 Device Addressing...............................................129

6.2.1.9 Packets ................................................................129

6.2.1.10 Operational Modes .............................................130

6.2.1.11 Service Discovery Protocol ..................................130

6.2.1.12 Vehicle Applications............................................132

6.2.2 Satellite Services..................................................................133

6.2.2.1 Satellite Radio .....................................................133

6.2.2.2 Vehicle Care........................................................133

6.2.2.3 Traffic Status.......................................................135

Chapter 7

Inter-Vehicle Communications............................................................137

7.1 Ad Hoc Networking.......................................................................138

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xii n  Contents

7.1.1 Overview.............................................................................138

7.1.2 Formation ...........................................................................138

7.1.3 Rationale for Use.................................................................139

7.1.4 Applications ........................................................................140

7.1.4.1 Vehicle Traffic Monitoring ..................................141

7.1.4.2 Collision and Congestion Avoidance...................142

7.1.4.3 Law Enforcement................................................142

7.1.4.4 Broadband Transmission.....................................142

7.1.4.5 Highway Lane Reservation..................................143

7.1.4.6 Emission Control ................................................143

7.1.5 Communications Technologies ...........................................144

7.1.5.1 IEEE 802.11 Standard ........................................144

7.1.6 Vehicle Frequency Utilization .............................................148

7.1.6.1 AM Radio ...........................................................149

7.1.6.2 Bluetooth ............................................................149

7.1.6.3 FM Radio............................................................149

7.1.6.4 GPS.....................................................................149

7.1.6.5 Satellite Radio .....................................................149

7.1.6.6 Short-Range Radar..............................................150

7.1.6.7 Wireless LANs .................................................... 151

7.2 The Intelligent Roadway .................................................................167

7.2.1 Roadway Design..................................................................167

7.2.1.1 Lane Markers ......................................................168

7.2.2 Lane Direction ....................................................................168

7.2.3 Road Junction .....................................................................169

7.2.4 Traffic Light ........................................................................169

7.2.5 Road Exit............................................................................169

7.2.6 Temporary Obstacles...........................................................170

7.2.7 Transmission Methods........................................................170

7.2.7.1 Infrastructure to Vehicle .....................................170

7.2.7.2 Vehicle to Vehicle................................................171

7.2.8 The Evolving Smart Vehicle.................................................171

7.2.8.1 Microprocessor....................................................172

7.2.8.2 Wireless Networking Transmitter/Receiver.........172

7.2.8.3 Forward Radar....................................................172

7.2.8.4 Side Radar...........................................................173

7.2.8.5 GPS.....................................................................173

7.2.8.6 Cellular Transmission .........................................173

7.2.8.7 Event Data Recorder ...........................................173

7.2.9 Summary ............................................................................173

Index............................................................................................................175

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xiii

Preface

Approximately every 5 or 10 years we are blessed with the implementation of a

technology that can have a major bearing upon how we work, facilitates our pro￾ductivity, and even enhances our recreational capability. In the past we witnessed

the PC revolution, the advent of the PDA, and the growth in the use of wireless

local area networks (LANs). Today a new technology, referred to as intra- and inter￾vehicle communications, considerably influences how we operate our vehicles.

The use of communications within and between vehicles provides a mechanism

to facilitate vehicle location, promote security, avoid accidents, and enhance our

ability to arrive at our destination in a timely manner, avoiding traffic bottlenecks

through the development of real-time communications flowing to in-vehicle navi￾gation systems. Although only very basic information is now passed to vehicles,

under the hood a revolution is occurring in the manner by which different modules

communicate with one another that can be expected to be significantly built upon

as other systems are added to provide additional communications-based function￾ality to vehicles planned for manufacture.

In the area of inter-vehicle communications several trials are occurring that

could significantly reduce the number of accidents that occur each year. Although

many readers are familiar with the use of an electronic pass that enables a vehicle to

go through a toll booth without having to stop, the so-called E-ZPass electronic toll

collection program uses a relatively short range tag the size of a deck of cards that

is mounted on the window of a vehicle that an antenna at the toll booth reads. This

type of communications is primarily unidirectional and only occurs as a vehicle

comes within range of the antenna mounted at a toll both. As we will note later in

this book, the ability to obtain an inter-vehicle communications capability is much

more complex and requires the vehicle to become a member of a network consisting

of other vehicles as well as lane markers, exit ramps, and other highway structures

if we wish to obtain the ability to use the network to avoid both vehicle accidents

and lane and exit drifting, which could also result in safety issues.

Because it is the job of an author to fully inform readers of all sides of an issue,

we will note that there are some significant problems associated with intra- and

inter-vehicle communications. Problems such as security represent issues that must

AU5221.indb 13 10/3/07 2:16:17 PM

xiv n  Preface

be considered regardless of the size of a vehicle communications network. Still,

other problems, such as radio frequency interference, can represent both control￾lable and noncontrollable issues, because it may be difficult or impossible to control

the use of machinery and street lighting, let alone the periodic sunspots that radiate

hundreds of millions of miles onto our small planet.

In addition, because vehicles can travel in areas ranging from an Alaskan high￾way to the Gobi Desert, communications within a vehicle must be able to operate

under severe conditions, to include a significant temperature range and extreme

vibrations. Another problem that adds to the temperature range is engine heat and

the effect of the sun on a vehicle’s outer skin surface. If you have a dark-colored

vehicle used in Georgia during the summer, you probably thought about your abil￾ity to fry eggs on the hood without having to start the vehicle. Now imagine the

effect of heat if you need to install wiring to remote sensors located on each corner

of the vehicle as well as along its sides. Thus, at applicable locations in this book

we will note the problems associated with intra- and inter-vehicle communications

networking as well as actual and potential solutions to such problems.

As a professional author I truly welcome reader comments. Let me know if you

feel I should expand upon a topic, if I provided too much information, and what

topics you might like to read about in a future edition of this book. Of course, any

other comments or suggestions are also welcomed. You can contact me through my

publisher, whose address is on the cover of this book, or you can send an e-mail to

[email protected].

Gilbert Held

Macon, Georgia

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