Inter- and Intra-Vehicle Communications Gilbert Held A Auerbach Publications Taylor 5* Francis Group Boca Raton New York Auerbach Publications is an imprint of the Taylor & Francis Croup, an informa business
Contents Preface Acknowledgments About the Author Chapter 1 Introducing the Smart Vehicle 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 xiii xv xvii l vii
viii 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 Bei 30 2.1.4.2 Log Relationships 30 2.1.4.3 TheDecibel 32 2.1.4.4 Decibel above 1 mw 32 2.1.4.5 The Decibel Isotropie 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
Contents 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.lln 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
x 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 CableLength 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
Contents xi 53.7.1 Controller States 109 5.3.7.2 ModeControl 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-Vehicie 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 Packers 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-Vehicie Communications 137 7.1 Ad Hoc Networking 138
xii 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 RoadExit 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