Browse > Article
http://dx.doi.org/10.7471/ikeee.2021.25.4.762

Vehicle ECU Design Incorporating LIN/CAN Vehicle Interface with Kalman Filter Function  

Jeong, Seonwoo (Soongsil University)
Kim, Yongbin (Soongsil University)
Lee, Seongsoo (Soongsil University)
Publication Information
Journal of IKEEE / v.25, no.4, 2021 , pp. 762-765 More about this Journal
Abstract
In this paper, an automotive ECU (electronic control unit) with Kalman filter accelerator is designed and implemented. RISC-V is exploited as a processor core. Accelerator for Kalman filter matrix operation, CAN (controller area network) controller for in-vehicle network, and LIN (local interconnect network) controller are designed and embedded. Kalman filter operation consists of time update process and measurement update process. Current state variable and its error covariance are estimated in time update process. Final values are corrected from input measurement data and Kalman gain in measurement update process. Usually floating-point multiplication is exploited in software implementation, but fixed-point multiplier considering accuracy analysis is exploited in this paper to reduce hardware area. In 28nm silicon fabrication, its operating frequency, area, and gate counts are 100MHz, 0.37mm2, and 760k gates, respectively.
Keywords
ECU; Kalman Filter; Location Estimation; Pose Estimation; LIN; CAN;
Citations & Related Records
연도 인용수 순위
  • Reference
1 J. Choi and S. Lee "Design of Electronic Control Unit for Parking Assist System," J.inst.Korean. electr.elctron.eng., vol.24, no.4, pp.1172-1175, 2020.
2 RISC-V International, https://riscv.org
3 J. Lee and S. Lee "Design and Verification of Automotive CAN Controller," J.inst.Korean.electr. elctron.eng., vol.21, no.2, pp.162-165, 2017.
4 Sifive, "E20 Core Complex Manual," https://www.sifive.com/documentation
5 J. Lee and S. Lee "Design and Verification of Automotive LIN Controller," J.inst.Korean.electr. elctron.eng., vol.20, no.3, pp.333-336, 2016.
6 R. Kalman, "A New Approach to Linear Filtering and Prediction Problems," Journal of Basic Engineering, vol.82D, pp.34-45, 1960.