# A Design of a Lightweight In-Vehicle Edge Gateway for the Self-Diagnosis of an Autonomous Vehicle
## 2 Related Works  
### On-Board Diagnostics  
Onboard-diagnostic (OBD) is an automotive term for self-diagnosis and reporting of vehicles. OBD system is developed to detect engine operation conditions for air-pollution monitoring [4]. The basic meaning of OBD is as above and it is used in various ways. OBD related research is as follows. Configuration of on-board diagnostics system and diagnostic communication module ELM327 are introduced. According to elements of ELM327 and Keyword 2000 protocols, an OBDII diagnostic procedure is developed based on LabVIEW program [5]. [PERSON] et al. [6] developed exhaust gas sensors for particulate matter (EGS-PM) based on multilayer ceramic sensor technology. Sensors must be able to detect soot emissions directly after the DPF, be able to withstand harsh exhaust gas environments, and meet future OBD legislation that includes stricter requirements for monitoring the function of the filter. [PERSON] et al. [7] reviewed currently soot sensors developed for on-board diagnostics to monitor a diesel particulate filter and detect the failure. Original equipment manufacturers have  
Figure 1: Vehicle gateways that need to handle in-vehicle sensor data. selected a resistive soot sensor for the on-board diagnostics application because of its commercial feasibility in terms of functionality and cost. The sensor accumulates soot particles in exhaust gas on the sensing element. As powertrains become more electric, the number of on-board diagnostics relevant to Electronic Control Units (ECUs) continues to grow. Vector provides a summary of the on-board diagnostics functions integrated in the AUTOSAR basic software (BSW) and which use cases they support [8]. Mobile communication offers one-way data collection for remote surveillance when data transmission is continuously linked with server through mobile communication. Data acquisition is handled by on-board unit via EV CAN network. However, on-line data size, e.g., state of health, is so huge that it is not easily transmitted when hundreds of vehicles are simultaneously connected for data logging into server. Taking SOH as example, it is a challenge to effectively provide the continuity of curve variation for remote health estimation. Hence, estimation theory is applied and embedded into hardware implementation before data reporting [9]. Every vehicle will be equipped with a central unit which will acquire speed data (and compute the average speed) from the on-board sensors of a car using an OBD device, and process and deliver the data to the server using the ZigBee protocol, with a ZigBee transmitter employed in every vehicle and the receivers mounted on light poles. These receivers then route the received traffic information to a localized server shared by several junctions or clusters [10]. OBD a critical tool used for emission control in today's automobiles. OBD generates fault codes when any system/component non-compliance is detected. Commercially available tools fetch fault codes from OBD and are providing only limited information/access of basic data to engineers. These tools are black box type of tools which provide very limited flexibility. In addition, the data storage capacity of these diagnostic tools is very limited. Next, we review the related study of OBD-II, which is the next version of OBD [11]. The extraction of all the available data in EV CAN network has been done systematically through OBD-II port and by using low-level software libraries and programming a development board based on ARM STM32F103 RBT6 micro-controller [12]. An OBD II reader is designed to measure speed and mass air flow, from which the distance and fuel consumption are also computed. These data are then transmitted via WiFi to a remote server. The system also implements global positioning system tracking to determine the location of the vehicle. A database management system is implemented at the remote server for the storage and management of transmitted data and a graphical user interface is developed for analyzing the transmitted data [13].