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HlLacHl PecearcH LaboraLory

Nobuyacu Kaoekawa
HlLacHl PecearcH LaboraLory
HlLacHl, LLd.
Rosoaroh Roport, 48
th
Moot1n !l!P WG.1O.4, Hakono
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HlLacHl PecearcH LaboraLory
1.Whats XbyW1ro ?
2. Our Approaoh
8O
HlLacHl PecearcH LaboraLory
1.Whats XbyW1ro ?
2. Our Approaoh
8O
HlLacHl PecearcH LaboraLory
wHaLc X-by-wlre ?
Fly-by-wlre` for AuLomoblle
Alco called ac 0rlve-by-wlre
ProbablllLy of cuccecc lc J. 6o LHey are maklog efforLc`
- Hr. LrocL 6cHmlLLer, 6lemeoc AC
F1C6 -28
- 6afeLy-PelaLed FaulL-1oleraoL 6ycLemc lo VeHlclec X- By-wlre)
- Ucer Coogrecc oo 0epeodablllLy of AuLomoLlve 6ycLemc
1998.
VuolcH
2OO4.
0eLrolL
6AL 6ocleLy of AuLomoLlve Logloeerc) 2OO4
- 0lcLrlbuLed Lmbedded 6ycLemc Logloeerlog4 cecclooc)
- lo-VeHlcle NeLworkc J cecclooc)
1
orr for sono from
h1t1
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HlLacHl PecearcH LaboraLory
Necessity for Active Safety
OO 96 9O
86
8O 7O 76
Year
6
8
1O
16
14
12
18
1OOO
JOO
6OO
7OO
9OO
11OO
1JOO
4
16OO
17OO
1OOO
Kllled
AccldeoL
loured
Active Safety by Electric
/Electronic Technology
AccldeoL PedducLloo
AcLlve
6afeLy
1wlCL
LlecLrlc, LlecLroolcc 1ecHoology
1OO
6O
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OO 86 2OO6-1O
L-AcLuaLor
1
1O
1OO
VlP6
Perfomaoce
Vore LHao 1OO of AcLuaLorc
9O
CooLroller
2
#

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HlLacHl PecearcH LaboraLory

X-by-wlre Poad Vap
1HroLLle-by wlre
L1C.LlecLroolc 1HroLLle CooLrol)
Brake-by wlre
6Leer-by wlre
AcLlve 6afeLy
V6C. VeHlcle 6LablllLy CooLrol)

HlLacHl PecearcH LaboraLory

FaulL-
1oleraoce
AuLomaLlc
0rlve
AcLloo
Judge
6ucpeocloo
by wlre
AcLlve 6afeLy
6ycLemc
X-by-wlre
6ycLemc
6eoce
Pader
VacHloe Vlcloo
6eocor Fucloo
Fall-6afe
CooLroller
Brake by wlre
6Leer by wlre
X-By-wlre Poad Vap

HlLacHl PecearcH LaboraLory

CoocepL Carc
X-by-Wire Operated with a Side Stick
6lde 6Llck
Power-train Platform with 11 Thickness. Layout-Free Cabin
GM <Hy-Wire> 2002Fuel Cell Vehicle
Daimler Chrysler <R129> 1997

HlLacHl PecearcH LaboraLory

Brake-by-wlre Brake-by-wlre 6Leer-by-wlre 6Leer-by-wlre
[EHEDaimlar Chrysler/SL, E-class
[EHEToyota.Estima-Hybrid [Variable Gear RatioHonda/S8000
[ Variable Gear Ratio Toyota/Land Cruiser
X-by-wlre Peal Carc
LHB LlecLro-Hydraullc Brake

HlLacHl PecearcH LaboraLory

LffecLc of X-By-wlre
Low Emission, Human Centered
Low Emission, Human Centered
Architecture
Architecture
Drivability
Drivability
Free Layout
Free Layout
For
For
Environment
Environment


Energy Saving
Energy Saving
Regenerative Brake
Regenerative Brake
Dry
Dry
Safety
Safety
With X-By-Wire, Cars become
With X-By-Wire, Cars become

HlLacHl PecearcH LaboraLory

Brake-By-Wire
Steer-
By-Wire
Conventional X-By-Wire System
Hydraulic
Steering
Hydraulic Pipe
Hydraulic
Brake
Steering Wheel
Mechanically Connected among
Actuators and Mechanics
Integrated Control Connecting
Components
via High-Speed Bus
Brake Pedal
Controller
High-Speed
Bus
X-By-wlre6ycLem

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HlLacHl PecearcH LaboraLory
9
HlLacHlc CoocepL Car
Q

{
lrom Promot1on V1doo at Tokyo Motor Show, 2OO8
8O
HlLacHl PecearcH LaboraLory
Aorospaoo 1s no !onor h1htooh.`
Ro!1ab1!1ty oan bo 1mprovod w1th oost.
XByW1ro 1s tho h1htooh., wh1oh roa!1zos
dopondab1!1ty w1th !owoost.`
Prof. M. Broy, Toohn1oa! Un1vors1ty of Mun1oh |lTOS28)
Inexpensive Dependability
1O
8O
HlLacHl PecearcH LaboraLory
1.Whats XbyW1ro ?
2. Our Approaoh

HlLacHl PecearcH LaboraLory

Low-Cost Dependable Technology
10 10
2
10
3
10
4
10
5
10
6
Aerospace Steel Railroad Automobile
(units/yr)
Production Scale of Controllers
Mass Production of LSI
Cost Reduction
Low-Cost Dependability with LSI Technology
Redundant CPUs in One Chip
Self-Checking / Failsafe Technology
Optimal Clock Diversity

and Autonomous Decentralized Concept

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HlLacHl PecearcH LaboraLory
1ralo CooLrol 6ycLemc
Our Expertise in Dependability
Nuclear Power PlaoLc
AuLooomouc 0eceoLrallzed 6ycLemc
2OOO 199O 198O
6Leel VaoufacLurlog
196O
12
SNV` Stopw1so Noot1at1n Vot1n, ATO` Automat1o Tra1n Oontro!!or,
lTO` lau!tTo!orant Oomputor
ATOS` Autonomous Dooontra!1zod Transport Oontro! Systom
ATC
6NV VeLHod
HlLeo, Nozoml Ooboard CompuLer
LlecLrlc Pallroad Crocclog CooLroller
ATOS
Fly-by-wlre
Fall-6afe CooLroller
F1-Oolloe 1raocacLloo Proceccor
F161OO J6OO/F1
6pace CompuLer
X-by-wlre
Hakono Hakono,2OO6
Gotomba Gotomba,1988
App1 App1,1996

HlLacHl PecearcH LaboraLory

CPU
A
SC
CMP
CPU
B
FS-I/O
CLK
Self-Checking Comparator
Self-checks its own operation
Compares output of two CPUs
Fail-Safe I/O
Executes fail-safe mode
operation on CPU failure
Optimal Clock Diversity
Operates CPUs out-of-phase
Improves noise immunity
Making Controllers Dependable : Dual CPUs
Applications
Digital ATC
Crossing Controller
Dual CPU Controller
Compares outputs of two CPUs.
Takes fail-safe mode operation, if there is a difference.

HlLacHl PecearcH LaboraLory

Comparator
a0
b0
an
bn
c0
cn
Self-Checking Comparator
Comparison of two outputs
CPU A
CPU B
a0 a1 a2 an
b0 b1 b2 bn
Exclusive-OR
0 : Normal
1 : Error
Test Pattern Generator
Exclusive-OR
Error
Normal
Error
Test Pattern Generator
inputs cyclic error signals
intentionally

HlLacHl PecearcH LaboraLory

lunc1onu1
b1ock !
lunc1onu1
b1ock b
l.oc. 1
l.oc. 2 l.oc. 3 l.oc. n
l.oc. 1 l.oc. 2 l.oc. 3 l.oc. n
d
Huc.o lLLc
l1c.1c \o1:
H1c.o lLLc
Clock in A
Clock in B
Noise Sensitive Window
Distance Distance
Phase Difference
hold
set up
Effects of Time Diversity

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HlLacHl PecearcH LaboraLory
d
(a) Macro Effect
d
(b) Micro Effect
1.0 2.0 3.0
[clocks]
d
C
o
r
r
e
l
a
t
e
d

E
r
r
o
r

R
a
t
e
1.0 2.0 3.0
[clocks]
(c) Overall Effect
*
C
o
r
r
e
l
a
t
e
d

E
r
r
o
r

R
a
t
e
C
o
r
r
e
l
a
t
e
d

E
r
r
o
r

R
a
t
e
Effects of Time Diversity
0
0.1
0.2
0.3
0.4
0.0 0.5 1.0
1.5 2.0
simultaneous error
coincident error
optimal points
C
o
r
r
e
l
a
t
e
d

E
r
r
o
r

R
a
t
e
por1mont! osu!ts
16

HlLacHl PecearcH LaboraLory

loLra-CHlp Peduodaocy CPU'FUJlNL)
MP(A) MP(B)
RAM
RAM
CPU
Peripherals
RAM
RAM
CPU
Peripherals
S
e
l
f
-
C
h
e
c
k
i
n
g

C
o
m
p
a
r
a
t
o
r
MP(A) MP(B)
RAM
RAM
CPU
Peripherals
RAM
RAM
CPU
Peripherals
S
e
l
f
-
C
h
e
c
k
i
n
g

C
o
m
p
a
r
a
t
o
r
Process
Hard Macros
Random Logic
Chip Size
Operating Frequency
Power Dissipation
Package
0.35 m 5 Metal CMOS
PLL x 2, RAM(40KB)
740k gates
14.75 mm
60 MHz
2.6W @ 60MHz
479pin BGA
MP(A)
Self-Checking Comparator
External Bus
RAM CPU
Peripherals
MP(B)
RAM CPU
Peripherals

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HlLacHl PecearcH LaboraLory
Autonomous Decentralized Systems
Autonomous Dooontra!1zod Data l1o!ds
lor Most of App!1oat1ons
Mor1ts`
On!1no SystomLxpans1on
Oomput1n Nodo Dopondab1!1ty
Oomput1n
Nodos
!/O
Nodos
Autonomous Dooontra!1zod Data l1o!ds
Oomput1n
Nodos
!/O
Nodos
lor Automot1vo/Aorospaoo
Sonsors
Aotuators
Oontro! Ob]oot`G!oba!
Lxohanoab!o
!/O Nodo Dopondab1!1ty
w/o Rodundanoy
Sonsors
Aotuators
Oontro! Ob]oot`Looa!1zod
Mor1ts`
On!1no SystomLxpans1on
Oomput1n Nodo Dopondab1!1ty
|!/O nodos shou!d bo rodundant)
18

HlLacHl PecearcH LaboraLory

1
Hitachis R&D on Automotive Systems
Nuclear Reactor
-Hydraulic Dynamics Sim.
Gas Turbine
Combustion Analysis
Motors, Generators
Train Control
RISC
Processors
Power IC
Information
Service
Environment
Low Emission
Safety
Drivability
Car Navigation
Target
Automotive Systems

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HlLacHl PecearcH LaboraLory
Pefereocec
|11| KoLaro 6Hlmamura eL al., Fall-6afe Vlcroproceccor Uclog 0ual 6yoLHeclzable Proceccor
Corec, 1He flrcL lLLL Acla Paclflc Coofereoce oo A6lCc, p.46-49 1999
2O
|4| HLLp.//www.gm.com/compaoy/gmablllLy/eovlroomeoL/producLc/fuelcellc/HywlreO814O2.HLml
|1| HLLp.//www.LLLecH.com/
|2| HLLp.//www.flexray.com/
|7| HLLp.//www.Hooda.co.p/oewc/2OOO/4OOO7O7.HLml
|8| HLLp.//www.LoyoLa.co.p/6Howroom/AllLoyoLalloeup/LaodCrulcer1OO/lodex.HLml
|6| HLLp.//www.LoyoLa.co.p/6Howroom/AllLoyoLalloeup/LcLlmaHybrld/
|6| HLLp.//www.mercedec-beoz.co.p/cHowroom/pacceoger/lodex.HLml
|J| HLLp.//popularmecHaolcc.com/auLomoLlve/auLoLecHoology/2OO2/8/HywlreHybrld/
|12| KeoLaro YocHlmura eL al., A 0epeodable aod CocL-LffecLlve VeHlcle CooLrol ArcHlLecLure for X-
By-wlre 6ycLemc Baced oo AuLooomouc 0eceoLrallzed CoocepL, 06N-2OO6 2OO6)
|1O| Nobuyacu Kaoekawa eL al., FaulL-0eLecLloo aod Pecovery Coverage lmprovemeoL by
OpLlmal 1lme-0lverclLy, F1C6-28 1998)
|9| Nobuyacu Kaoekawa eL al., 6elf-cHecklog aod Fall-cafe L6lc by loLra-cHlp Peduodaocy
F1C6-26 1996)
|on roont rosorh orks on!)

HlLacHl PecearcH LaboraLory