Embedded Automobile Systems,M.G. Panjwani, Dr.N.G Bawane

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“Embedded Automobile Systems ”

M.G. Panjwani Dr.N.G Bawane [email protected] [email protected]

G.H.Raisoni College Of Engineering. G.H.Raisoni College Of Engineering.

Abstract: Automotive embedded systems are distributed throughout modern vehicles using multiple vehicle networks partitioned across a variety of different electronic modules. Complex control systems, distributed automotive embedded systems are used in automobiles. Nowadays Automotive manufacturers use VaST's (virtual system prototypes) as a specification communication medium and for architectural development and evaluation. Today vehicles include an increasing number of electronics systems. It has been estimated by Dataquest that the average semiconductor content of a vehicle will reach $240 by 2001, with consumption of DSPs, microcontrollers and microprocessor reaching $4.9 billion. Electronic control units now play a crucial part in all the functional areas of a vehicle such as infotainment / multimedia , body control or vehicle control . This was made possible through the advent of networking technology such as CAN. Typical vehicles consist of several interconnected networks that more or less reflect distinct functional areas. For instance, the Volvo S80 includes 18 ECUs connected CAN bus (125kbit/s), a high-speed power train CAN bus (250kbit/s). Embedded control applications such as drive-by-wire in cars require dependable interaction between various sensors, processors, and actuators. Embedded systems build the key technological components of all kinds of complex technical systems, ranging from telecommunications devices to automobiles, aircraft and even complete production lines.

Keywords Embedded Automobile, PIC18f87, 18Fxx80, Motorola M68HC11, MPC555, ARM.

Introduction

Embedded system can be any device that includes a programmable computer but is not itself a general-purpose computer. Computer purchased as part of some other piece of equipment • Typically dedicated software (may be user- customizable) • Often replaces previously electromechanical components • Often no “real” keyboard • Often limited display or no general- purpose display device. Distribution and parallelism in embedded system design increase the engineering challenges and demand new development methods and tools. Also, the increasing relevance of intelligent applications like autonomous systems or systems with self-x properties calls for new design methods and tools. Due to the growing complexity of these kinds of embedded systems, their development requires new, consistent and integrated design methodologies, covering the path from specification to implementation. The majority of computer systems in use today are embedded in other machinery, such as automobiles, telephones, appliances, and peripherals for computer systems. While some embedded systems are very sophisticated, many have minimal requirements for memory and program length, with no operating system, and low software complexity. Typical input and output devices include switches, relays, solenoids, LEDs, small or custom LCD displays, radio frequency devices, and sensors for data such as temperature, humidity, light level etc. Embedded systems usually have no keyboard, screen, disks, printers, or other recognizable I/O devices of a personal computer, and may lack human interaction devices of any kind. Embedded systems rule the market as (1) 80 Million PCs vs. 3Billion Embedded CPUs Annually. (2) Embedded market growing; PC market mostly saturated.

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Fig.1.Working of an Embedded System.

System On Chip

System-on-a-chip or system on chip (SoC or SOC) refers to integrating all components of a computer or other electronic system into a single integrated circuit (chip). It may contain digital, analog, mixed-signal, and often radio-frequency functions – all on one chip. A typical application is in the area of embedded systems. If it is not feasible to construct an SoC for a particular application, an alternative is a system inpackage (SiP) comprising a number of chips in a single package. In large volumes, SoC is believed to be more cost effective SiP since it increases the yield of the fabrication and because its packaging is simpler.

Usual (or desired) specs:

· 32-bit RISC CPU · Built-in interfaces to RAM and ROM · Built-in DMA, interrupt and timing

controllers · Built-in interfaces to disk or flash

memory · Built-in Ethernet/802.11 interfaces · Built-in LCD/CRT interfaces

System-on-chip technology is the ability to place multiple function "systems" on a single silicon chip, cutting development cycle while increasing product functionality, performance and quality. Even if the semiconductor industry achieved increasing levels of integration, the success of this double integration -- processes and functions

involves more capabilities than originally expected. System-

fig.2.Embedded Configuration. on-a-Chip (SoC) has been used in a variety of applications including digital still cameras, digital camcorders and cellular phones.There is an increasing demand for shortening the development time of SoC. In order to bring the SoC business into success, highly completed system should be appeared in a market.

Automotive Embedded Systems An automobile or motor car is a wheeled motor vehicle for transporting passengers, which also carries its own engine or motor. Most definitions of the term specify that automobiles are designed to run primarily on roads, to have seating for one to eight people, to typically have four wheels, and to be constructed principally for the transport of people rather than goods. Transportation systems from flight to automobiles increasingly use embedded systems. New airplanes contain advanced avionics such as inertial guidance systems and GPS receivers that also have considerable safety requirements. Various electric motors — brushless DC motors, induction motors and DC motors — are using electric/electronic motor controllers. Automobiles, electric vehicles. and hybrid vehicles are increasingly using embedded systems to maximize efficiency and reduce pollution. Other automotive safety systems such as anti-lock braking system (ABS), Electronic Stability Control (ESC/ESP), and automatic four-wheel drive. Today’s high-end automobile may have (1)100 microprocessors: (2)4-bit microcontroller checks seat belt; (3) microcontrollers run dashboard devices; (4)16/32-bit microprocessor controls engine.

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The integration of microcontrollers has further increased the applications for which embedded systems are used into areas where traditionally a computer would not have been considered. A general purpose and comparatively low-cost microcontroller may often be programmed to fulfill the same role as a large number of separate components. Although in this context an embedded system is usually more complex than a traditional solution, most of the complexity is contained within the microcontroller itself. In automotive electronics, an electronic control unit (ECU), also called a control unit, or control module, is an embedded system that controls one or more of the electrical systems or subsystems in a vehicle. Some modern cars have up to 80 ECUs, including: Engine Control Unit - also known as an ECU Transmission Control Unit - TCU .

fig.3.SOC

Control of variable valve timing

Variable valve timing, or VVT, is a generic term for an automobile piston engine technology. VVT allows the lift or duration or timing (some or all) of the intake or exhaust valves (or both) to be changed while the engine is in operation. Two-stroke engines use a Power valve system to get similar results to VVT. Some engines have Variable Valve Timing. In such an engine, the ECU controls the time in the engine cycle at which the valves open. The valves are usually opened later at higher speed than at lower speed. This can optimise the flow of air into the cylinder, increasing power and economy.

Electronic valve control Experimental engines have been made and tested that have no camshaft, but has full electronic control of the intake and exhaust valve opening, valve closing and area of the valve opening. Such engines can be started and run with out a starter motor for certain multi-cylinder engines equipped with precision timed electronic ignition and fuel injection. Such a static-start engine would provide the efficiency and pollution-reduction improvements of a mild hybrid-electric drive, but without the expense and complexity of an oversized starter motor.

Programmable ECU’s A special category of ECUs are those which are programmable. These units do not have a fixed behavior, but can be reprogrammed by the user.Programmable ECUs are required where significant aftermarket modifications have been made to a vehicle's engine. As a consequence of these changes, the old ECU may not provide appropriate control for the new configuration. In these situations, a programmable ECU can be wired in. These can be programmed/mapped with a laptop connected using a serial or USB cable, while the engine is running. The programmable ECU may control the amount of fuel to be injected into each cylinder. This varies depending on the engine's RPM and the position of the gas. In order to communicate with the driver, a race ECU can often be connected to a "data stack", which is a simple dash board presenting the driver with the current RPM, speed and other basic engine data. These race stacks, which are almost always digital, talk to the ECU using one of several proprietary protocols running over RS232 or CANbus.

Steering Wheel Control A steering wheel (also called a driving wheel or hand wheel) is a type of steering control in vehicles and vessels (ships and boats). This article deals with steering wheels in cars;

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fig.4.Steering Control Steering wheels are used in most modern land vehicles, including all mass-production automobiles as well as light and heavy trucks. The steering wheel is the part of the steering system that is manipulated by the driver; the rest of the steering system responds to such driver inputs. This can be through direct mechanical contact as in recalculating ball or rack and pinion steering gears, without or with the assistance of hydraulic power steering HPS, or as in some modern production cars with the assistance of computer controlled motors EPS. With the introduction of federal vehicle regulation in the United States in Remote car audio controls are often included on the steering wheels of newer vehicles.Steering wheels for passenger automobiles are generally circular, and are mounted to the steering column by a hub connected to the outer ring of the steering wheel by one or more spokes (single spoke wheels being a rather rare exception). Besides its use in steering, the steering wheel is the usual location for a button to activate the car's horn. Additionally, many modern automobiles may have other controls, such as cruise control and audio system controls built into the steering wheel to minimize the extent to which the driver must take his hands off the wheel.

ABS (Anti-lock brake system) ABS and ASC+T communicate. An anti-lock braking system, or ABS (from the German, Antiblockiersystem) is a safety system on motor vehicles which prevents the wheels from locking while braking. ABS pumps brakes to reduce skidding.

A rotating road wheel allows the driver to maintain steering control under heavy braking, by preventing a locked wheel or skid, and allowing the wheel to continue to forward roll and create lateral control, as directed by driver steering inputs. Disadvantages of the system include increased braking distances under some limited circumstances (ice, snow, gravel, "soft" surfaces), and the creation of a "false sense of security" among drivers who do not understand the operation, and limitations of ABS. The anti-lock brake controller is also known as the CAB (Controller Anti-lock Brake).A typical ABS is composed of a

Fig.5.ABS working central electronic control unit (ECU), four wheel speed sensors (one for each wheel), and two or more hydraulic valves within the vehicle brake circuit. The ECU constantly monitors the rotational speed of each wheel. When it senses that any number of wheels are rotating considerably slower than the others ,it actuates the valves to decrease the pressure on the specific braking circuit for the individual wheel, effectively reducing the braking force on that wheel. The wheel(s) then turn faster; when they turn too fast, the force is reapplied. This process is repeated continuously, and this causes the characteristic pulsing feel through the brake pedal.

GPS(Global Positioning System)

GPS" redirects here. For other similar systems, see Global Navigation Satellite System. For other uses of "GPS", see GPS (disambiguation).For a generally accessible and less technical introduction to the topic, see Introduction to the Global Positioning System. .

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fig .6.GPS Working The GPS uses a constellation of between 24 and 32 Medium Earth Orbit satellites that transmit precise microwave signals, that enable GPS receivers to determine their current location, the time, and their velocity (including direction). GPS was developed by the United States Department of Defense. Its official name is NAVSTAR-GPS. Although NAVSTAR-GPS is not an acronym, a few backronyms have been created for it.

Air bags functionality on Crash

An airbag, also known as an Air Cushion Restraint System (ACRS), or the Supplemental Inflatable Restraint (SIR) (reflecting the airbag system's intended role as a supplement to conventional restraints such as seat belts), is a flexible envelope commonly used for cushioning against hard interior objects (such as steering wheels), in particular for rapid inflation in the case of an automobile collision. It is a "passive" safety component, rather than an "active" component (that is: it reacts after an accident has happened, rather than helping to avoid an accident in the first instance, like ABS or ESP).

Airbags are one component of a number of complementary components which fall under the 'umbrella' term of Safety Restraint System, also known as Supplementary Restraint System (SRS). Airbags are designed to complement conventional restraints, such as seat belts, and seatbelt pre-tensioners, not replace them. Other additional passive automotive safety features include "anti-submarine" seats, telescopically collapsible steering columns, "break away"

control pedals (accelerator/brake/clutch), toughened and/or laminated glass.

Temperature Control System

Temperature control is a process in which the temperature of an object is measured and the passage of heat energy into or out of the object is adjusted to achieve a desired temperature.

Fig.7.Temperature Control

An object's temperature increases when heat energy moves into it, increasing the average kinetic energy of its atoms. Heat energy leaving an object lowers its temperature. Heat moves from one place to another (always from a higher temperature to a lower one) by one of three processes: conduction, convection and radiation. In conduction, energy is passed from one atom to another by direct contact. In convection, heat energy moves by conduction into some movable fluid (such as air or water) and the fluid moves from one place to another, carrying the heat with it. An object in contact with the surrounding world can lose or gain heat energy by means of any or all of the three methods. An object can receive energy from some of its surrounding atoms and give up energy to others, depending on their relative temperatures. If more energy is received, its temperature increases. If the amount of energy coming in and going out are exactly the same, the object's temperature stays constant- the energy balance is in equilibrium. It is the goal of any temperature control system to adjust the surroundings of the object so that it is in equilibrium at the desired temperature.

Advanced Parking Guidance System

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Advanced Parking Guidance System (APGS) is an automatic parking system first developed by Toyota Motor Corporation in 2004 for its latest Lexus models and also the Japanese market hybrid Prius models. In Europe, the APGS is marketed as the Intelligent Park Assist system. On vehicles equipped with the APGS, via an in-dash screen and button controls, the car can steer itself into a parking space with little input from the user. The latest version of APGS helps determine that the car has enough clearance for a particular space, and calculates the steering maneuvers needed for parallel or reverse parking. In 2006, the APGS debuted for the first time on a luxury vehicle with the new Lexus LS, which featured the automatic parking technology among other brand new inventions from Toyota. This was the first appearance of the APGS in the United States and other countries.

Fig.8.Automatic Parking.

When the Intuitive Park Assist feature is used, the processor(s) calculate steering angle data which are displayed on the navigation/camera touch screen along with obstacle information. The Advanced Parking Guidance System expands on this capability and is accessible when the vehicle is shifted to reverse (which automatically activates the backup camera). When in reverse, the backup camera screen features APGS buttons which can be used to activate automated parking procedures. When the Advanced Parking Guidance System is activated, the central processor calculates the optimum parallel or reverse park steering angles and then interfaces with the Electric Power Steering systems of the vehicle to guide the car into the parking spot.

Key Less Control A remote keyless system is a system designed to remotely permit or deny access to premises or automobiles. There are several RKE systems on the market, including but not limited to KeeLoq by Microchip, HITAG by Philips, and AVR411 by Atmel. Remote keyless systems operate by broadcasting radio waves on a particular frequency. Most RKEs work on 315MHz in North America and Japan, and 433.92MHz in Europe. Remote keyless systems operate by broadcasting radio waves on a particular frequency. Most RKEs work on 315MHz in North America and Japan, and 433.92MHz in Europe. Modern systems implement encryption to prevent car thieves from intercepting and spoofing the signal.The system signals that it has either locked or unlocked the car usually through some fairly discreet combination of flashing vehicle lamps, a distinctive sound other than the horn, or some usage of the horn itself.

Types Of Microcontrollers Used In Automobiles.

1. MPC555 Features:- • Composed of over 6.7 million transistors.

Fig.9.Automated parking Screen.

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Fig.10. Remote : Keyless Control

• 32-Bit CPU includes multiple execution units and a floating point unit.

• 48 Timer Processor Unit (TPU) timer controlled input/output.

• The program memory is 448 Kbytes of Flash EEPROM .

• 26 Kbytes of RAM. • Operate with a 5v power supply. • Analog-to-digital converter with 11

channels. • Operating voltage range of 2.0 to 5.5

volts. • Temperature range of -40C to +125C. 2. Motorola M68HC11 Features:- 1) ROM (8KB), EEPROM (512B), RAM

(256B) 2)Counter/Timer system 3)A/D converter 4)D/A in kit 5)Parallel I/O 6)Serial I/O (SPI and SCI) 7)Expansion bus

3. PIC18f87 Features:- 1) An 8-bit microcontroller 2) Includes a CPU running at 12 MHz 3)128 bytes of RAM 4)2048 bytes of EPROM 5)I/O in the same chip.

4. HCS12 Features:- • 16-bit CPU • 64 KB memory space (also supports

expanded memory up to 1 MB through a 16-KB window)

• 0 KB to 4KB of EEPROM • 2 KB to 14 KB of on-chip SRAM

• 32 KB to 512 KB flash memory • Serial communication interfaces: SCI, SPI,

CAN, BDLC • Background debug mode (BDM) • 10-bit A/D converter • Instructions for supporting fuzzy logic

function. 5. ARM Features:-

· The ARM architectures a 32-bit RISC processor.

· developed by ARM Limited · widely used in embedded designs. · power saving features, · ARM CPUs are dominant in the

mobile electronics market

6. MIPS

· MIPS is a RISC microprocessor architecture · Developed by MIPS Technologies. · One in three RISC chips produced were

MIPS-based designs · MIPS designs are currently primarily used in

many embedded systems.

7. Atmel AVR Features:- · The AVR is a Modified Harvard

architecture · 8-bit RISC single chip microcontroller(µC) · Developed by Atmel in 1996. · The AVR was one of the first microcontroller

families to use on-chip flash memory for program storage,.

· program and data stored in separate physical memory systems

9. V850 Features:-

· The NEC Electronics Corporation V850, · 32-bit embedded, · sssCompilers available include the GNU

Compiler Collection, IAR Systems and Green Hills' compiler

· manufactured by NEC, · succeeded by V850, · Support for V850 will be removed in the

2.6.27 Linux kernel

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10. PowerPC

· PowerPC is a RISC instruction set architecture created by the 1991 Apple–IBM–Motorola alliance, known as AIM.

· PowerPC CPUs have since become popular embedded and high-performance processors.

· PowerPC was the cornerstone of AIM's PReP and Common Hardware Reference Platform initiatives in the 1990s,

Latest Developments In

Automobiles

Collision avoidance system

Collision Avoidance Systems is a futuristic technology that allows cars to “think.” Within this broad field, there are many subdivisions like freeway management, electronic payment for tolls, and road and weather management. One of the biggest of these subdivisions is a technology referred to as Collision Avoidance Systems.

In simple terms, this is a system of sensors that a placed within a car to warn its driver of any dangers that may lie ahead on the road. Some of the dangers that these sensors can pick up on include how close the car is to other cars surrounding it, how much its speed needs to be reduced while going around a curve, and how close the car is to going off the road. See, how it works is sensors that send and receive signals from things like other cars, obstacles in the road, traffic lights, and even a central database are placed within the car and tell it of any weather or traffic precautions. A situation that provides a good example of how the system works is when a driver is about to change lanes, and there is a car in his blind spot. The sensors will detect that car and inform the driver before he starts turning, preventing him from potentially getting into a serious accident.

Driver Less Car

These are highly automated cognitive and control technologies, ultimately aimed at a full "taxi-like" experience for car users, but without a

human driver. Driverless passenger programs include the 800 million ECU.

· Fully autonomous vehicles · Various enhancements to the infrastructure

(either an entire area, or specific lanes) to create a self-driving closed system.

· "assistance" systems that incrementally remove requirements from the human driver (e.g. improvements to cruise control)

· An important concept that cuts across several of the efforts is vehicle platoons. In order to better utilize road-space,

Lane departure warning system

Fig.11.Driver Less Car

A lane departure warning system (LDW) is a mechanism designed to warn a driver when the vehicle begins to move out of its lane (unless a turn signal is on in that direction) on freeways and arterial roads.

In 2008, Infiniti will offer a new version of this feature, which it calls the Lane Departure Prevention (LDP) system. This feature will utilize the vehicle stability control system to help assist the driver in maintaining lane position by applying gentle brake pressure.

Vehicle tracking system

A vehicle tracking system is an electronic device installed in a vehicle to enable the owner or a third party to track the vehicle's location. Most modern vehicle tracking systems use Global Positioning System (GPS) modules for accurate location of the

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vehicle. Many systems also combine a communications component such as cellular or satellite transmitters to communicate the vehicle’s location to a remote user. Vehicle

Fig.12.Lane Departure System

Fig.13.Vehicle Tracking System.

information can be viewed on electronic maps via the Internet or specialized software.

LoJack

The LoJack Stolen Vehicle Recovery System is an aftermarket vehicle tracking system that allows vehicles to be tracked by police after being stolen. The manufacturer claims a 90% recovery rate. The name "LoJack" was coined to

be the "antithesis of hijack", meaning the theft of a vehicle through force.

The LoJack Stolen Vehicle Recovery System is a small, silent radio transceiver that is hidden in a vehicle by a certified LoJack technician. Once installed, the unit is automatically registered in the LoJack Database, which interfaces with the National Crime Information Center (NCIC) system used by federal, state and local law enforcement agencies throughout the US. In the event of a theft, a customer reports the incident to the police, who make a routine entry into the state police crime computer, resulting in a match of the LoJack System's unique code against the state VIN database. This process automatically triggers the activation of the LoJack unit in the vehicle. If a LoJack unit is activated, every police car within a 2-3 mile radius and equipped with a tracking unit will automatically be alerted that the vehicle is near.

Controller-Area Network

Controller-area network (CAN or CAN-bus) is a computer network protocol and bus standard designed to allow microcontrollers and devices to communicate with each other without a host computer.It was designed specifically for automotive applications but is now also used in other areas. The CAN bus may be used in vehicles to connect engine control unit and transmission, or (on a different bus) to connect the door locks, climate control, seat control, etc.

CAN is a broadcast, differential serial bus standard for connecting electronic control units (ECUs).Each node is able to send and receive messages, but not simultaneously: a message is transmitted serially onto the bus, one bit after another — this signal-pattern codes the message (in NRZ) and is sensed by all nodes.

Conclusion, Scope & Future Developments

In this dissertation I have discussed, the various functionalities which are implemented in Automobiles, using embedded systems. We believe that the challenge of designing embedded systems offers a unique opportunity for reinvigorating Computer Science. The challenge, and thus the opportunity, spans the spectrum from theoretical foundations to engineering practice. We expect that these new capabilities will increase interest in and applicability of CORBA for distributed real-time & embedded systems. Inspires

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new automation solutions. Design methodologies help us manage the design process.

Many systems have complex embedded hardware and software. Embedded systems pose many design challenges: design time, deadlines, power, etc. Real-time and embedded is now

Fig.14.Use of CAN Bus in Networking

everywhere and everyone’s business. Fast design-to-market is essential. Embedded processors are ubiquitous. Demand for systems that use them is increasing. Domain-specific embedded processors are specifically tailored to a particular application domain. Needed to meet stringent power, performance, cost, and real-time processing constraints. Challenging research problems in embedded processor design. Reducing power consumption. Selecting appropriate hardware resources. Performing hardware/software co-design. Ensuring reliability and security. Conventional digital signal processors. High performance vs. power consumption/cost/volume Excellent at one-dimensional processing Per cycle: 1 16 ´ 16 MAC & 4 16-bit RISC

instructions. High performance vs. cost/volume. Excellent at multidimensional signal processing. Per cycle: 2 16 ´ 16 MACs & 4 32-bit RISC instructions. Native signal processing. Many industry popular methodologies for creating architectures (adaptable to embedded systems).Rational Unified Process (RUP), Attribute Driven Design (ADD), Object Oriented Process (OOP), Synthesis from a specification written in the Unified Modeling Language (UML).More Pragmatic Approach [the best of all worlds. Stage (1) : Having a Solid Technical Base. Stage (2) : Understanding the ABCs of Embedded Systems. Stage (3): Defining the Architectural Patterns & Reference Models. Stage (4): Creating the Architectural Structures. Stage (5): Documenting the Architecture. Stage(6): Analyzing & Evaluating the Architecture. Embedded Systems open a whole new world of possibilities. They still have the “classic” bugs which are near non-existent in the software realm. I hope I’ve shown that exploiting hardware isn’t just a “gimmick” and that the threat is real. An extreme variety of application areas. Each application area has its “habits”. An increasing amount of money is involved. Only few engineers worldwide involved (maximum 200K ?) having influence on our daily lives of all of us. Hardware is important and will produce the money. However – the intelligence in the software is the sales driver: smart – smarter – smartest. In industry most people are hardware educated Martin’s statement: “embedded systems = the world of electronic hobbyists”. Is it art, technology or science?. Microcontrollers are great little processors for I/O and data manipulation. The CISC-style programming makes assembly programming easier Variable instruction length can be a problem for Word-aligned machines. Super-scalar machines Pipelines .The RISC philosophy is to. Use simple instructions and let the compiler optimize. Use loads and stores to support higher-speed registers. Neither RISC, its CISC predecessors, nor CISC / RISC has the definitive advantage. Depends on application, architecture, and implementation. Furthermore, we intend to expand the application of evolutionary functional tests to further vehicle systems such as intelligent speed control or emergency brake systems. We also intend to research the interaction between evolutionary functional tests and structure tests more intensively. This should answer questions such as: Which coverage is achieved with functional tests? Does the seeding of functionally determined test data prove useful for an evolutionary structure test

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and, on the other hand, does the seeding of structure oriented test data increase the test quality of the evolutionary functional test? “This is not the end. It is not the beginning of the end. But it is perhaps the end of the beginning”-Sir William Churchill.

References (1) Embedded Real time systems –an Introduction Richard H. Thayer , Edward Yourdon , Winston W. Royce, Software Engineering Project Management, IEEE Computer Society Press, Los Calamitous, CA, 1997 http://www.ieee.org/its vol. 34, no. 1, pp. 21–36, 2002. (2) RAIN DETECTION SYSTEM FOR POWER WINDOWS IN AUTOMBILES. By Robert Herzog Brian Mitered Chin tan Patel ECE 445, SENIOR DESIGN PROJECTFALL 2006TA: Austin Kirchhoff05 December 2006 vol. 22, no. 6, pdf. 21–36. (3) A Hardware and Software Co-Debugging Environment for System-on-a-Chip Design Masami Nakajima, Hiroyuki Kondo, Osamu Yamamoto, Kenji Shiraz*, and Toru Shimizu vol. 34, no. 1, pp. 23–40, 2000. http://www.ieee.org/its. (4) Ivan Jacobson, Automobile Engineering: A Use Case Driven Approach, Addison Wesley Longman Publishing Co., Inc., Redwood City, CA, 2004 http://www.ieee.org/its vol. 4, no.2 , pp. 21–36. (5) Daryl Kulak , Emanon Gurney, Use Cases: Requirements in Context, Addison-Wesley Longman Publishing Co., Inc., Boston, MA, 2003 http://www.ieee.org/its vol.4, no.5, ppf. 17–30. (6) CONNECTING AUTOMOBILES TO THE INTERNET Thierry Ernst__ and Keisuke Uehara___ INRIA (French “Institute National de Recherche en Informatique et en Automatique”)_ Keio University, Graduate school of Media and Governance http://www.ieee.org/its vol. 21, no. 1, pdf. 25–36, 2003. vol. 31, no.2, pp.12–29, 2004.

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