Embedded Systems in Automotive Applications (Aboubakr El Hammoumi, Saad Motahhir)（Z-Library）

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EMBEDDED SYSTEMS IN AUTOMOTIVE APPLICATIONS

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EMBEDDED SYSTEMS IN AUTOMOTIVE APPLICATIONS Edited by ABOUBAKR EL HAMMOUMI Engineering Laboratory for Intelligent Technologies and Transformation, École Supérieure de Technologie de Tétouan, Abdelmalek Essaâdi University, Tétouan, Morocco SAAD MOTAHHIR Laboratoire des Sciences Appliquées et Technologies Innovantes, École Nationale des Sciences Appliquées de Fès, Sidi Mohamed Ben Abdellah University, Fez, Morocco

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Elsevier Radarweg 29, PO Box 211, 1000 AE Amsterdam, Netherlands 125 London Wall, London EC2Y 5AS, United Kingdom 50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States Copyright © 2026 Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies. For accessibility purposes, images in electronic versions of this book are accompanied by alt text descriptions provided by Elsevier. For more information, see https://www.elsevier.com/about/accessibility. Books and Journals published by Elsevier comply with applicable product safety requirements. For any product safety concerns or queries, please contact our authorised representative, Elsevier B.V., at productsafety@elsevier.com. Publisher’s note: Elsevier takes a neutral position with respect to territorial disputes or jurisdictional claims in its published content, including in maps and institutional affiliations. No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or any information storage and retrieval system, without permission in writing from the publisher. Details on how to seek permission, further information about the Publisher’s permissions policies and our arrangements with organizations such as the Copyright Clearance Center and the Copyright Licensing Agency, can be found at our website: www.elsevier.com/permissions. This book and the individual contributions contained in it are protected under copyright by the Publisher (other than as may be noted herein). MATLAB® is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does not warrant the accuracy of the text or exercises in this book. This book's use or discussion of MATLAB® software or related products does not constitute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the MATLAB® software. Notices Knowledge and best practice in this field are constantly changing. As new research and experience broaden our understanding, changes in research methods, professional practices, or medical treatment may become necessary. Practitioners and researchers must always rely on their own experience and knowledge in evaluating and using any information, methods, compounds, or experiments described herein. In using such information or methods they should be mindful of their own safety and the safety of others, including parties for whom they have a professional responsibility. To the fullest extent of the law, neither the Publisher nor the authors, contributors, or editors, assume any liability for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions, or ideas contained in the material herein. ISBN: 978-0-443-33861-8 For Information on all Elsevier publications visit our website at https://www.elsevier.com/books-and-journals Publisher: Matthew Deans Acquisitions Editor: Dennis McGonagle Editorial Project Manager: Kripa Joseph Production Project Manager: Maria Bernard Cover Designer: Greg Harris Typeset by MPS Limited, Chennai, India

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Dedication We are honored to dedicate this book to our esteemed professor, Abdelaziz El Ghzizal, whose wise guidance, profound knowledge, and inspiring mentorship have had a lasting impact on our academic and professional journey.

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Contents List of contributors xiii Preface xvii Acknowledgments xix I Introduction 1. Overview of embedded systems in automotive applications 3 Vivek Upadhyaya, Aboubakr El Hammoumi and Saad Motahhir 1.1 Introduction 3 1.2 Key components of automotive embedded systems 5 1.3 Applications of embedded systems in automobiles 8 1.4 Automotive embedded software development 12 1.5 Communication protocols in automotive embedded systems 16 1.6 Functional safety and security in automotive embedded systems 17 1.7 Emerging trends in automotive embedded systems 20 1.8 Challenges and future directions 22 1.9 Conclusion 23 Acknowledgments 24 References 24 II AUTOSAR Architecture & Standards 2. AUTOSAR in automotive embedded systems: classic versus adaptive platforms and their role in IoV development with integrated blockchain security 29 Aboubakr El Hammoumi, Loubna Rahhab, Lobna A. Said and Saad Motahhir 2.1 Introduction 29 2.2 Automotive open system architecture classic platform 31 2.3 AUTOSAR ports 41 vii

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2.4 Automotive open system architecture adaptive platform 44 2.5 Comparison between classic and adaptive automotive open system architecture 51 2.6 Security and blockchain in the development of Internet of Vehicle in accordance with automotive open system architecture 53 2.7 Conclusion 60 Acknowledgments 61 References 61 3. Multithreading integration in automotive computing: AUTOSAR-compliant survey 63 Rachid Latif, Zakaria El Khadiri and Amine Saddik 3.1 Introduction 63 3.2 Multithreading in automotive systems 65 3.3 Automotive open system architecture standard: overview 66 3.4 System architecture and approach for multithreading integration 68 3.5 Complexities and solutions 71 3.6 Conclusion 74 Acknowledgments 75 References 75 4. A concise survey on ADAS: advances in vehicle and pedestrian detection with a focus on the AUTOSAR automotive standard 77 Nouhaila El Akadi, Ibtissam Slimani, Abdelmoghit Zaarane and Issam Atouf 4.1 Introduction 77 4.2 Vehicle detection 79 4.3 Pedestrian detection 86 4.4 Available evaluation metrics 90 4.5 Empowering ADAS with AUTOSAR 91 4.6 The role of embedded systems in ADAS 95 4.7 Discussion 96 4.8 Conclusion 99 References 100 III Embedded software implementation & validation 5. Efficient parallel implementation strategies on multicore digital signal processors 109 Smail Bariko, Assia Arsalane, Abdessamad Klilou and Abdelouahed Abounada 5.1 Introduction 109 viii Contents

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5.2 Materials and methods 110 5.3 Results and discussions 117 5.4 Conclusion 118 References 118 6. Google Test/Google Mock to verify critical embedded software 121 Hafsa Cheddadi, Saad Motahhir and Abdelaziz Ghzizal 6.1 Introduction 121 6.2 Google Test framework 123 6.3 3 C++ Unit testing frameworks 129 6.4 Mocking for unit tests 131 6.5 Conclusion 136 Acknowledgments 136 References 136 7. MIL and PIL tests for SOC estimation algorithms of electric vehicles lithium-ion batteries and their implementation on ARM embedded processor 139 Rachid Latif, Rachid Amenzouy, Saad El Mousadik and Mostafa Laaboubi 7.1 Introduction 139 7.2 Overview of lithium-ion batteries 141 7.3 Battery modeling under Matlab/Simulink 142 7.4 Embedded implementation of the unscented Kalman filter algorithm on ARM Cortex-M4 core 153 7.5 Conclusion 155 References 156 IV Battery Management Systems & Monitoring 8. Battery Management Systems: integration and optimization in automotive applications 161 Yashar Aryanfar, Ali Keçebaş, Amir A. Baghlou, Rashed Aghazadeh, Arash Nourbakhsh Sadabad, Pania Radmehr, Shaban Mousavi Ghasemlou and Abdallah Bouabidi Highlights 161 8.1 Introduction 162 8.2 Fundamentals of Battery Management Systems 167 8.3 Battery Management Systems architecture and components 180 Contents ix

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8.4 Optimization techniques in Battery Management Systems for automotive applications 198 8.5 Conclusion and closing remarks 210 References 211 9. Battery real-time power monitoring and control in automotive embedded systems 217 Yashar Aryanfar, Ali Keçebaş, Hamidreza Fardinnia, Rashed Aghazadeh, Humberto Garcia Castellanos, Hassan Abdulhakim Wagini, Shaban Mousavi Ghasemlou and Jorge Luis García-Alcaraz Highlights 218 9.1 Introduction 218 9.2 Battery management systems in automotive embedded systems 220 9.3 Real-time power monitoring in automotive batteries 224 9.4 Control strategies in battery management 231 9.5 Embedded system design for battery monitoring and control 237 9.6 Future trends in battery monitoring and control 243 9.7 Conclusion 248 References 249 V Autonomous Driving Technologies 10. A comprehensive review of LiDAR-SLAM for hardware implementation for autonomous vehicles 257 Slama Hammia, Anas Hatim, Azeddine Elmajidi, Abdelilah Haijoub, Atika Menhaj and Maria Zrikem 10.1 Introduction 257 10.2 Simultaneous localization and mapping 259 10.3 LiDAR-SLAM 262 10.4 Popular LiDAR SLAM algorithms 270 10.5 Lidar SLAM’s challenges and limitations 272 10.6 Lidar-SLAM’s hardware architectures 274 10.7 Conclusion 277 References 278 11. Efficient FPGA-based hardware architecture for high-performance EKF-SLAM in autonomous vehicle navigation 285 Slama Hammia, Anas Hatim, Azeddine Elmajidi, Abdelilah Haijoub and Maria Zrikem 11.1 Introduction 285 x Contents

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11.2 The extended Kalman filter-simultaneous localization and mapping 288 11.3 Hardware architecture of extended Kalman filter-simultaneous localization and mapping 291 11.4 Field-programmable gate array implementation: evaluations and discussions 299 11.5 Conclusion 303 References 303 12. Advancing autonomous vehicle technology with 3D LiDAR and SqueezeSeg-ROS integration 307 Abdelilah Haijoub, Anas Hatim, Mounir Arioua, Slama Hammia, Azeddine Elmajidi, Ahmed Eloualkadi, Titouan Vosghien and Zouhair Elfaqyr 12.1 Introduction 307 12.2 Methodology 309 12.3 Experimental analysis of 3D LiDAR detection models 316 12.4 Implementation of SqueezeSeg under robot operating system 320 12.5 Conclusion 323 References 324 VI Connectivity & Telematics 13. 3G Universal plugin for car remote starters, alarm systems, and car key fobs 331 Adnan Shaout and Munther Al-Sawah 13.1 Introduction 331 13.2 State of the art 332 13.3 3G Universal system components 335 13.4 Global system for mobile/general packet radio service 336 13.5 Hardware design of the 3G Universal device 337 13.6 Software design of the new 3G Universal device 340 13.7 Main features of the 3G Universal system 346 13.8 First-time use 348 13.9 Experiment 348 13.10 Conclusion 352 References 352 Index 355 Contents xi

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List of contributors Abdelouahed Abounada Faculty of Sciences and Technologies, Sultan Moulay Slimane University, Automation and Energy Conversion Team, Beni-Mellal, Morocco Rashed Aghazadeh Modern College of Business and Science, Mascate, Oman Munther Al-Sawah Department of Electrical and Computer Engineering, The University of Michigan, Dearborn, MI, United States Rachid Amenzouy National School of Applied Sciences (ENSA), Ibnou Zohr University, Laboratory of Systems Engineering and Information Technology (LISTI), Agadir, Morocco Mounir Arioua Engineering Sciences Laboratory, National School of Applied Sciences of Kenitra, Ibn Tofail University, Kenitra, Morocco Assia Arsalane High School of Technologies, Sultan Moulay Slimane University, Laboratory of Engineering and Applied Technologies, Beni-Mellal, Morocco Yashar Aryanfar Department of Electrical Engineering and Computer Sciences, Autonomous University of Ciudad Juarez, Ciudad Juárez, Mexico; Department of Chemical Engineering, National Cheng Kung University, Tainan, Taiwan; College of Mechanics and Engineering Science, Hohai University, Nanjing, Jiangsu, P.R. China; Department of Mechanical Engineering, Thermo-Fluids Research Group, Khazar University, Baku, Azerbaijan Issam Atouf Faculty of Sciences Ben M'Sick, Department of Physics, Hassan II University, Casablanca, Casablanca-Settat, Morocco Amir A. Baghlou Computer Engineering, Urmia University, Urmia, Iran Smail Bariko Faculty of Sciences and Technologies, Sultan Moulay Slimane University, Automation and Energy Conversion Team, Beni-Mellal, Morocco Abdallah Bouabidi National Engineering School of Gabès, Gabes, Tunisia Humberto Garcia Castellanos Engineering Sciences, Tecnológico Nacional de México IT Ciudad Juárez, Ciudad Juárez, Mexico Hafsa Cheddadi Sidi Mohamed Ben Abdellah University, Fez, Morocco Nouhaila El Akadi Faculty of Sciences Ben M'Sick, Department of Physics, Hassan II University, Casablanca, Casablanca-Settat, Morocco Aboubakr El Hammoumi Engineering Laboratory for Intelligent Technologies and Transformation, École Supérieure de Technologie de Tétouan, Abdelmalek Essaâdi University, Tétouan, Morocco Saad El Mousadik National School of Applied Sciences, Cadi Ayyad University, Marrakech, Morocco xiii

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Zouhair Elfaqyr Laboratory of Research on Sustainable and Innovative Technologies (LaRTID), National School of Applied Sciences of Marrakech, Cadi Ayyad University, Marrakech, Morocco Azeddine Elmajidi Laboratory of Research on Sustainable and Innovative Technologies (LaRTID), National School of Applied Sciences of Marrakech, Cadi Ayyad University, Marrakech, Morocco Ahmed Eloualkadi Innovative Systems Engineering Laboratory, National School of Applied Sciences of Tetouan, Abdelmalek Essaadi University, Tetouan, Morocco Hamidreza Fardinnia Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran Jorge Luis García-Alcaraz Department of Industrial Engineering and Manufacturing, Autonomous University of Ciudad Juárez, Ciudad Juárez, Chihuahua, Mexico Shaban Mousavi Ghasemlou Doctorado en Tecnología, Universidad Autónoma de Ciudad Juárez, Ciudad Juárez, Mexico Abdelaziz Ghzizal EST, Sidi Mohamed Ben Abdellah University, Fez, Morocco Abdelilah Haijoub Engineering Sciences Laboratory, National School of Applied Sciences of Kenitra, Ibn Tofail University, Kenitra, Morocco Slama Hammia Laboratory of Research on Sustainable and Innovative Technologies (LaRTID), National School of Applied Sciences of Marrakech, Cadi Ayyad University, Marrakech, Morocco Anas Hatim Laboratory of Research on Sustainable and Innovative Technologies (LaRTID), National School of Applied Sciences of Marrakech, Cadi Ayyad University, Marrakech, Morocco Ali Keçebaş Department of Energy Systems Engineering, Technology Faculty, Muğla Sıtkı Koçman University, Menteşe, Muğla, Turkey Zakaria El Khadiri National School of Applied Sciences (ENSA), Ibnou Zohr University, Laboratory of Systems Engineering and Information Technology (LISTI), Agadir, Morocco; Faculty of Applied Sciences, Ibnou Zohr University, Agadir, Morocco Abdessamad Klilou Faculty of Sciences and Technologies, Sultan Moulay Slimane University, Microelectronic, Embedded Systems and Telecommunications Team, Beni-Mellal, Morocco Mostafa Laaboubi National School of Applied Sciences (ENSA), Ibnou Zohr University, Laboratory of Systems Engineering and Information Technology (LISTI), Agadir, Morocco Rachid Latif National School of Applied Sciences (ENSA), Ibnou Zohr University, Laboratory of Systems Engineering and Information Technology (LISTI), Agadir, Morocco Atika Menhaj Université Polytechnique Hauts-de-France, Institut d'Électronique, de Microélectronique et de Nanotechnologie, Valenciennes, France xiv List of contributors

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Saad Motahhir Laboratoire des Sciences Appliquées et Technologies Innovantes, École Nationale des Sciences Appliquées de Fès, Sidi Mohamed Ben Abdellah University, Fez, Morocco Pania Radmehr Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran Loubna Rahhab Laboratoire des Sciences Appliquées et Technologies Innovantes, École Nationale des Sciences Appliquées de Fès, Sidi Mohamed Ben Abdellah University, Fez, Morocco Arash Nourbakhsh Sadabad Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran Amine Saddik National School of Applied Sciences (ENSA), Ibnou Zohr University, Laboratory of Systems Engineering and Information Technology (LISTI), Agadir, Morocco; Faculty of Applied Sciences, Ibnou Zohr University, Agadir, Morocco Lobna A. Said Nanoelectronics Integrated Systems Center (NISC), Nile University, Giza, Egypt Adnan Shaout Department of Electrical and Computer Engineering, The University of Michigan, Dearborn, MI, United States Ibtissam Slimani Faculty of Sciences Ben M'Sick, Department of Physics, Hassan II University, Casablanca, Casablanca-Settat, Morocco Vivek Upadhyaya SENSE, VIT AP University, Amaravati, Andhra Pradesh, India Titouan Vosghien Laboratory of Research on Sustainable and Innovative Technologies (LaRTID), National School of Applied Sciences of Marrakech, Cadi Ayyad University, Marrakech, Morocco Hassan Abdulhakim Wagini College of Hydrology and Water Resources, Hohai University, Nanjing, Jiangsu, P.R. China Abdelmoghit Zaarane Faculty of Sciences Ben M'Sick, Department of Physics, Hassan II University, Casablanca, Casablanca-Settat, Morocco Maria Zrikem Laboratory of Research on Sustainable and Innovative Technologies (LaRTID), National School of Applied Sciences of Marrakech, Cadi Ayyad University, Marrakech, Morocco List of contributors xv

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Preface Embedded systems combine hardware and software to perform specific, often safety-critical functions. In the automotive domain, they are central to modern vehicle technologies such as electric powertrains, autonomous driving, and vehicle connectivity. These systems are increasingly com- plex and interconnected, governed by rigorous standards like AUTOSAR and ISO 26262. Rapid advancements in embedded systems technology are trans- forming the automotive industry. From AUTOSAR’s foundational role in software architecture to innovations in battery management, autonomy, and connectivity, embedded systems form the backbone of modern vehicles. This book provides a structured and accessible resource on the design, development, and application of embedded systems in the automotive field. It is intended for students, researchers, developers, and industry professionals engaged in building the next generation of intelligent and safe automotive systems. The chapters of this book are organized into thematic domains that reflect the most pressing and innovative areas of research and development: • This book begins with an overview of automotive embedded systems, offering a comprehensive foundation for understanding their archi- tecture and role in vehicle subsystems. • It proceeds with a detailed examination of the AUTOSAR standard, covering both Classic and Adaptive platforms and their role in automotive software architectures. It then discusses Internet of Vehicles (IoV) applications and the integration of Blockchain security. Additionally, a survey of multithreading models and ADAS imple- mentations compliant with AUTOSAR is presented. • The next section focuses on software implementation and validation, highlighting parallelization techniques on multicore digital signal processors (DSPs), the use of Google Test/Mock frameworks for verifying safety-critical embedded software, and validation methodol- ogies such as model-in-the-loop (MIL) and processor-in-the-loop (PIL) testing—particularly for state-of-charge estimation algorithms in elec- tric vehicle battery systems deployed on ARM processors. xvii

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• A dedicated chapter on electric vehicle systems explores battery management systems (BMS), real-time battery monitoring, and embedded control for power optimization. • This book further delves into autonomous driving technologies, presenting a comprehensive review of LiDAR-SLAM algorithms for hardware implementation, an efficient FPGA-based architecture for high-performance EKF-SLAM in autonomous navigation, and the integration of the deep learning model SqueezeSeg within ROS for enhanced 3D LiDAR perception. • Lastly, this book discusses connectivity and telematics, including 3G- enabled modules for remote vehicle monitoring, alarm integration, and smart key systems. xviii Preface

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Acknowledgments The editing of this book is funded by the Arab-German Young Academy of Sciences and Humanities (AGYA), as part of a Research Mobility Project by AGYA member Saad Motahhir. AGYA is supported by the German Federal Ministry of Education and Research (BMBF). xix