© Elektrobit (EB) 2016 | Confidential 3 - GTC On Demand...ADTF OS Adapter AUTOSAR Interface 1 high...
Transcript of © Elektrobit (EB) 2016 | Confidential 3 - GTC On Demand...ADTF OS Adapter AUTOSAR Interface 1 high...
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Development
Rapid prototyping
Car-PC
Rapid embedding
Target ECU
Series production
Mass production
Development ECU
AUTOSAR basic software ADAS development
framework
Application layer architecture and modules
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• EB Reference architecture for HAD
‒ Application-Layer Architecture and SWCs for Automated Driving Development
‒ Rich Abstraction for DAS tasks like fusion, planning, control, multi-function coordination, and functional safety
• EB tresos AD
‒ Full AUTOSAR BSW and Safety products on Safety µC,
‒ RTE on Linux on High-performance µC
‒ OS-to-OS communication via Ethernet + SPI
• Hardware
‒ NVIDIA DRIVE PX for prototyping or similar
‒ Conti CDCU or similar for production
• Scope
‒ Generic platform for ADAS/HAD Applications
‒ Safety & Security solutions for High-Performance Systems
E th ern et , F lex Ra y , C A N , L I N
L in u x / P OS I X
E B A U T OS A R
Ba s ic S o f tw a re L ib ra r ies
S a fety M C U
E B A U T OS A R
S o f tw a re &
S a fety O s
F u n ct io n a l
S a fety
S W C s
S en s o r
D a ta
F u s io n
S W C s
D A S
F u n ct io n
L o g ic
S W C s
P la n n in g
&
C o n tro l
S W C s
High Performance ECU
EB tresos AD
EB Reference architecture for HAD
P er fo rm a n ce
P ro ces s o rs
EB tresos AD for NVIDIA DRIVE PX
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Core1 Core2 Core3
AUTOSAR SW-C
Application
RTE
Safety OS,BSW Linux/QNX/ AUTOSAR… COM
Core Partitioning
Safety and Performance optimized
Micro1 Micro2
AUTOSAR SW-C
Application
RTE
Safety OS,BSW Linux/QNX/ AUTOSAR… Com
Microcontroller Partitioning
Safety and Performance
Core1 Core2 Core3
AUTOSAR SW-C
Application SW-C
RTE Safety OS,BSW
Full AUTOSAR
Safety or Performance
• Software Architectures define the next generation of microcontroller architectures • AUTOSAR is part of each architecture as a common standard for
− Basic Software, Safety and Security in ECUs
Hypervisor
Core1 Core2 Core3
AUTOSAR SW-C
Application
RTE BSW Linux/QNX/…
Hypervisor
Security Architecture
for for for for
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Hypervisor
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EB tresos AD for NVIDIA DRIVE PX
Performance Microprocessors Safety MCU
AUTOSAR SWCs ASIL
Generic Linux Applications
Linux Kernel
Libraries
AUTOSAR SWCs QM
Can | Ethernet | FlexRay | SPI | Lin
AUTOSAR SWCs QM
Safety RTE
EB tresos Safety OS
BSW
MCAL
E2E
TimE
RTE
AUTOSAR OS
BSW DsCom
E2E
TimE
AUTOSAR SWCs QM
EB tresos Safety Products
Application Software
EB tresos Autocore
Architecture • AUTOSAR SWCs & Linux
Applications • Functional Safety & Security
concept
• Linux Libraries like OpenCV /
CUDA • On Board Communication concept • AUTOSAR Tool Environment
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ECU 1
Input Data
Output Data
Diagnostics
ECU 2
Diagnostics
Logic
Logic Output Input
Output Input
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Enable Output
Enable Output
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Performance MCU
Safety E2E
Safety MCU
Safety E2E
Ethernet
1oo2D Channel 1/2
1oo2D Diagnostic Functions
CAN
Safety OS
Os
Msg Router Safety TimE
Protection
Safety TimE
Protection
Linux App
DsCom Msg Router
Rte Safety Rte
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S e n s o r s
P a t h P l a n n i n g
L o n g i t u d i n a l C o n t r o l
HAD Function
L a t e r a l C o n t r o l
E g o F u s i o n
O b j e c t F u s i o n
G r i d F u s i o n
F u n c t i o n a l E r r o r M a n a g e m e n t
H i g h l y A u t o m a t e d F u n c t i o n s
S a f e t y S u p e r v i s o r
L a n e F u s i o n
S i g n F u s i o n
Fu
nc
tio
n S
pe
cif
ic V
iew
s
S t e e r i n g S y s t e m
B r a k i n g S y s t e m
M o t o r s
H M I
M o t i o n M a n a g e r
E B S e n s o r C l o u d
EB Reference architecture for HAD
P e r c e p t i o n S W S e r v i c e s
M o t i o n S W S e r v i c e s
E l e c t r o n i c
H o r i z o n
S I T T P L
S I T T P L
S i t u a t i o n a n d D e c i s i o n F r a m e w o r k S e n s o r
D a t a F u s i o n
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S e n s o r s
Your autonomous system
P a t h P l a n n i n g
L o n g i t u d i n a l C o n t r o l
S a f e t y S u p e r v i s i o n
L a t e r a l C o n t r o l
E g o F u s i o n
O b j e c t F u s i o n
G r i d F u s i o n
H i g h l y A u t o m a t e d F u n c t i o n s L a n e F u s i o n
S i g n F u s i o n
Fu
nc
tio
n S
pe
cif
ic V
iew
s
M o t i o n M a n a g e r
EB Reference architecture for HAD
M o t i o n S W S e r v i c e s
S I T T P L
S I T T P L
S i t u a t i o n a n d D e c i s i o n F r a m e w o r k S e n s o r
D a t a F u s i o n
Gateway
S t e e r i n g S y s t e m
B r a k i n g S y s t e m
M o t o r s
H M I
S e n s o r s
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S e n s o r s
P a t h P l a n n i n g
L o n g i t u d i n a l C o n t r o l
HAD Function
L a t e r a l C o n t r o l
E g o F u s i o n
O b j e c t F u s i o n
G r i d F u s i o n
F u n c t i o n a l E r r o r M a n a g e m e n t
H i g h l y A u t o m a t e d F u n c t i o n s
S a f e t y S u p e r v i s o r
L a n e F u s i o n
S i g n F u s i o n
Fu
nc
tio
n S
pe
cif
ic V
iew
s
S t e e r i n g S y s t e m
B r a k i n g S y s t e m
M o t o r s
H M I
M o t i o n M a n a g e r
E B S e n s o r C l o u d
E B R o b o s
P e r c e p t i o n S W S e r v i c e s
M o t i o n S W S e r v i c e s
E l e c t r o n i c
H o r i z o n
S I T T P L
S I T T P L
S i t u a t i o n a n d D e c i s i o n F r a m e w o r k S e n s o r
D a t a F u s i o n
Scalable, open interfaces
Scalable inputs
Base system independence
Grid Fusion
Algorithm core ADTF
OS Adapter
AUTOSAR OS Adapter
Interface 1 high volume for central ECU use
Interface 2 mid volume for FlexRay / Ethernet
Interface 3 low volume for CAN
US Sensor Interface
US Sensor Adapter
Lidar Sensor Interface
Lidar Sensor Adapter
Radar Sensor Interface
Radar Sensor Adapter
Emb. Linux OS Adapter
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S e n s o r s
P a t h P l a n n i n g
L o n g i t u d i n a l C o n t r o l
HAD Function
L a t e r a l C o n t r o l
E g o F u s i o n
O b j e c t F u s i o n
G r i d F u s i o n
F u n c t i o n a l E r r o r M a n a g e m e n t
H i g h l y A u t o m a t e d F u n c t i o n s
S a f e t y S u p e r v i s o r
L a n e F u s i o n
S i g n F u s i o n
Fu
nc
tio
n S
pe
cif
ic V
iew
s
S t e e r i n g S y s t e m
B r a k i n g S y s t e m
M o t o r s
H M I
M o t i o n M a n a g e r
E B S e n s o r C l o u d
E B R o b o s
P e r c e p t i o n S W S e r v i c e s
M o t i o n S W S e r v i c e s
E l e c t r o n i c
H o r i z o n
S I T T P L
S I T T P L
S i t u a t i o n a n d D e c i s i o n F r a m e w o r k S e n s o r
D a t a F u s i o n
Scalable, open interfaces
Various inputs
Base system independence
Path Planning
Algorithm core ADTF
OS Adapter
AUTOSAR OS Adapter
Trajectory
Center Line
…
Road Graph
OccupancyGrid
Emb. Linux OS Adapter
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in_data_sources out_algorithm
in_target_position out_algorithm_visualization_data
Path_Planning_Algorithm_Filter
in_data_sources out_algorithm
in_target_position out_algorithm_visualization_data
in_algorithms
in_ego_data
out_path_description
Path_Planning_Scheduler_Filter
in_algorithms
in_ego_data
out_path_description
in_path_description out_path_description
Path_Planning_Post_Processing_Filter
in_path_description out_path_description
out_data_source
Path_Planning_Data_Source_Filter
out_data_source
in_path_description
in_algorithm_visualization_data
Path_Planning_Visualization_Filter
in_path_description
in_algorithm_visualization_data
cDataSourceInterface cPathPlanningAlgorithmInterface
sLocationAndVelocity
sEgoData
sPathDescription
sPathDescription
sAlgorithmVisualizationData
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Industry is facing the transition from assisting to fully automated driving functions
New software/hardware architectures are needed to make this transition a success
EB’s Platform for Autonomous Driving is one solution to face these upcoming challenges