本研究提出一種新的可運用在移動載具的電池與電機安全控制系統，重新建構動力域中電池管理和電機控制系統的軟硬體組成，透過虛擬機管理技術，在單一嵌入式晶片上執行功能控制器、安全控制器以及開機引導程序，並結合異質感測器融合和訊號仲裁演算法的技術，使提出的系統可以在部分元件失效時，仍可運作且符合安全的需求。本研究提出新的V-T開發模型，原始的V模型對應開發階段，新增的T模型則是負責維運階段，T模型新增虛擬目標驗證與映像檔功能驗證，讓具有遠端更新功能的控制器開發維運流程更加完善。透過不可改寫虛擬模型來實現所提出的概念，本研究作為硬體根信任的延伸，確保被更新程式的正確性，當映像檔被惡意破壞時可以即時的發現。在軟體的部分則是採用域控制器與中央電腦來實現，利用虛擬驗證技術與虛實整合驗證技術驗證本研究所提出的系統，並透過注入錯誤的方式來評估診斷錯誤的時間以及系統響應。本研究針對不同分類的算法所需要的運算資源進行比對，遠端更新的部分則是透過人為操作修改映像檔和偽造金鑰的方式來進行錯誤注入，確保系統可以發現異常並進行程式回滾。本研究所提出的軟硬體系統，在不增加感測器成本的狀態下，可以診斷感測器不同的失效行為，並同時可容許三個感測器的錯誤。所採用多核心的運算晶片可以避免單一核心崩潰之後的危害，不可改寫的虛擬模型驗證技術，則能偵測到映像檔數位簽證與完整性均正確下的數據異常行為。

For use in safety-related mobile vehicles, this study proposes a new battery and motor control architecture, which reconstructs the hardware and software components of a battery management and motor control system in the powertrain domain. Through using virtual machine management technology, the function controller, safety controller, and bootloader are running on a single embedded chip system. With the integration of heterogeneous sensors and signal arbitration algorithm, the developed system can meet the requirements of fail-operational of vehicle functions. This study proposes a novel V–T model, in whuch the original V model is used in the development stage, while the added T model is used in the maintenance stage. The newly T model includes virtual target verification and image file function verification to improve the integrity of the development, and to maintenance processes of automotive electronic controller with a remote update function. The V–T model can be implemented using the immutable virtual model, which is an extension of the root trust of hardware to ensure the validity of program updates. When an image file is maliciously damaged, it is immediately detectable. Domain controller and central computer unit are used in the software implementation, and virtual verification technology and hybrid verification technology are used to test the proposed architecture in this research. By injecting faults, the time of fault diagnosis and system response are evaluated, and the computing resources required by various types of algorithms are compared. Fault injection is performed as part of remote update by manually modifying image files and digital signature, allowing the system to detect anomalies and roll back programs. The architecture proposed in this study can diagnose different sensor failure behaviors without increasing sensor costs, and detect the faults up to three sensors at the same time. Multi-core computing architecture can avoid the harm of a single core crash, and immutable virtual model verification technology can detect abnormal data behaviors when the digital signature and integrity of image files are correct.

摘要 I
ABSTRACT II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 X
第1章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 3
1.2.1 車用電器與電子架構技術 3
1.2.2 馬達控制與容錯技術 6
1.2.3 電池管理系統與容錯技術 8
1.2.4 遠端更新技術 9
1.2.5 訊號仲裁技術 10
1.2.6 控制器失效診斷技術 11
1.3 本文架構 12
第2章 系統分析與架構設計 13
2.1 傳統動力系統架構 13
2.2 基於三層安全架構規範的概念設計與改善 14
2.3 本研究之系統架構 15
2.4 軟體架構 17
2.5 資產定義 20
2.6 功能安全分析 21
2.6.1 失效與危害 22
2.6.2 失效樹之架構改善 24
2.7 資訊安全風險分析 28
2.7.1 影響性分析 28
2.7.2 威脅的可實施性分析 30
2.7.3 風險評估 34
2.7.4 風險對策 35
2.8 小結 38
第3章 演算法設計與開發 39
3.1 永磁馬達模型與控制演算法 39
3.1.1 永磁馬達模型 40
3.1.2 磁場導向控制 42
3.1.3 馬達控制器訊號估測 43
3.1.4 馬達控制器訊號估測模擬 48
3.1.5 馬達控制器訊號重建 50
3.1.6 馬達控制器訊號重建模擬 53
3.2 電池模型與狀態估測演算法 56
3.2.1 基於庫倫積分法電池狀態估測 56
3.2.2 基於EKF的電池狀態估測 57
3.2.3 電池可輸出最大電流狀態估測 59
3.3 分類預測演算法 59
3.3.1 決策樹模型 61
3.3.2 支援向量機模型 63
3.3.3 隨機森林模型 63
3.4 錯誤識別與容錯再配置 64
3.4.1 運行階段異常偵測與訊號再配置流程 65
3.4.2 模型訓練與部屬 69
3.5 遠端更新與離線監控機制 71
3.5.1 遠端更新架構 71
3.5.2 對稱加密與非對稱加密 74
3.5.3 映像檔的完整性與可信任性 77
3.5.4 根信任機制 80
3.5.5 遠端更新整合不可複寫虛擬模型與離線監控 81
3.6 控制器實現方法 85
3.6.1 基於域控制器的實現方式 86
3.6.2 基於中央電腦的實現方式 89
3.7 小結 90
第4章 系統實現與驗證結果分析 91
4.1 虛擬驗證技術 91
4.1.1 電池建模 92
4.1.2 電機建模 95
4.2 虛實整合驗證技術 100
4.2.1 Bluebox所實現的馬達模擬與IBMU控制器 102
4.2.2 電池模擬系統與軟硬體驗證 104
4.2.3 OTA遠端更新的服務器 107
4.3 馬達與電池管理系統驗證 108
4.3.1 基準參考線 108
4.3.2 相電流傳感器故障 111
4.3.3 直流端電壓傳感器故障 112
4.3.4 直流端電流傳感器故障 114
4.3.5 電池芯電壓傳感器故障 115
4.3.6 多傳感器故障 117
4.4 遠端更新與離線監控系統驗證 120
4.4.1 映像檔加密與完整性異常偵測 120
4.4.2 映像檔功能異常偵測 122
4.5 小結 124
第5章 結論與未來工作 125
5.1 結論 125
5.2 未來工作 126
參考文獻 128
附錄A. 電池模型建立程式碼 136

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