Automated Driving is the declared Systems evolve …...Higher maturity of functions, safety and...
Transcript of Automated Driving is the declared Systems evolve …...Higher maturity of functions, safety and...
Automated Driving is the declared goal of the automotive industry
Systems evolve from complicated to complex
© Elektrobit (EB) 2016
Radar
target vehicle candidates, their velocity / acceleration
Steering Wheel Angle
target vehicle selection
Motor Speed Control
ego vehicle speed control
Head Unit
system activation, status communication
Items to specify: 4.
3
© Elektrobit (EB) 2016 4
Radar
Camera
LIDAR
Sonar
Steering Wheel Sensors
Wheel Speeds
IMU / Gyro
Global Position
Maps
Motor Speed Control
Brake Pressure
Steering Angle Control
Regenerative Braking
Static obstacles
Lanes
Moving objects
Vehicle ego motion
Signs
Trajectory planning &
control
Fail-safe / -degraded
mechanisms
Head Unit
Side Tasks
Functional safety
Redundancies
Items to specify: 24.
© Elektrobit (EB) 2016 5
Radar
Camera
LIDAR
Sonar
Steering Wheel Sensors
Wheel Speeds
IMU / Gyro
Global Position
Maps
Motor Speed Control
Brake Pressure
Steering Angle Control
Regenerative Braking
Static obstacles
Lanes
Moving objects
Vehicle ego motion
Signs
Trajectory planning &
control
Fail-safe / -degraded
mechanisms
Head Unit
Side Tasks
Functional safety
Redundancies
Items to specify: 24.
0
5
10
15
20
25
30
2002 2004 2007 2010 2013 2015
Items to specify
1999: Mercedes S-Class Distronic
2002: VW Phaeton ACC
2005: Mercedes S-Class Distronic plus
2010: Audi A8 GPS-guided ACC
2006: Audi Q7 ACC plus / AEB
2013: Mercedes S-Class Dist.+ / Steering Assistant
2015: Audi Q7 Traffic Jam Assistant
+ brakes + sensor fusion + GPS maps + steering + automatic steering
0
1000000
2000000
3000000
4000000
5000000
6000000
7000000
8000000
9000000
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
# In
tera
ctio
ns
# Components
0
50
100
150
200
250
300
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
# In
tera
ctio
ns
# Components
© Elektrobit (EB) 2016 6
𝑛(𝑛 − 1)
2
24 components: 276 interactions
2𝑛−1 − 1 24 components: 8.4 million interactions
Best case: Every specification gets written
or checked only once
Worst case: All specifications must be re-examined
after one is changed
© Elektrobit (EB) 2016 7
Radar
Camera
LIDAR
Sonar
Steering Wheel Sensors
Wheel Speeds
IMU / Gyro
Global Position
Maps
Motor Speed Control
Brake Pressure
Steering Angle Control
Regenerative Braking
Static obstacles
Lanes
Moving objects
Vehicle ego motion
Signs
Trajectory planning &
control
Fail-safe / -degraded
mechanisms
Head Unit
Side Tasks
Functional safety
Redundancies
Items to specify: 24.
© Elektrobit (EB) 2016 8
Radar
Camera
LIDAR
Sonar
Steering Angle
Wheel Speeds
IMU / Gyro Global
Position
Maps
Automated Driving
Automated Emergency Brake
Automated Valet Parking
Interactions: 𝒏 ×𝒎 for 𝒏 sensors, 𝒎 functions
Sensor Data Fusion
© Elektrobit (EB) 2016 9
Radar
Camera
LIDAR
Sonar
Steering Wheel Sensors
Wheel Speeds
IMU/ Gyro
Global Position
Maps
Static obstacles
Lanes
Moving objects
HD Positioning
Signs
Interactions: 𝒏 +𝒎+ 𝐤 for 𝒏 sensors, 𝒎 functions, 𝒌 abstraction components
Automated Driving
Automated Emergency Brake
Automated Valet Parking
© Elektrobit (EB) 2016 10
Automated Driving
Automated Emergency Brake
Automated Valet Parking
Sensor Data Fusion: From echos to objects and free space
Motion Management: From brake pressure to trajectory control
HMI Management: From buttons and LEDs to user interactions
© Elektrobit (EB) 2016 11
Automated Driving
Automated Emergency Brake
Automated Valet Parking
Well-defined interfaces
Well-defined interfaces
Well-defined interfaces
Well-defined interfaces
© Elektrobit (EB) 2016 12
Research & Development
Rapid prototyping
C, C++, Model Based
PC Evaluation Hardware
Rapid embedding
C, C++
Target ECU
Series Production
Automotive Grade Software
© Elektrobit (EB) 2016 13
Research & Development
Rapid prototyping
C, C++, Model Based
PC Evaluation Hardware
Rapid embedding
C, C++
Target ECU
Series Production
Automotive Grade Software
© Elektrobit (EB) 2016 14
Rapid prototyping
C, C++, Model Based
PC Evaluation Hardware
Rapid embedding
C, C++
Target ECU
Automotive Grade
Software
EB tresos AD EB Assist ADTF
Software Architecture and Modules for Automated Driving
© Elektrobit (EB) 2016 15
© Elektrobit (EB) 2016 16
© Elektrobit (EB) 2016 17
© Elektrobit (EB) 2016 18
© Elektrobit (EB) 2016 19
© Elektrobit (EB) 2016 20
•
•
•
•
© Elektrobit (EB) 2016 21
•
•
•
‒
EB Modules 3rd-Party Modules Your Modules
Software Module Grid Fusion
© Elektrobit (EB) 2016 22
Scalable, standardized interfaces
Scalable inputs
Grid Fusion
Algorithm core
ADTF AUTOSAR
Interface 1 high volume for central ECU use
Interface 2 mid volume for FlexRay / Ethernet
Interface 3 low volume for CAN
Ultrasonic Sensor Interface
Ultrasonic Sensor Adapter
Lidar Sensor Interface
Lidar Sensor Adapter
Radar Sensor Interface
Radar Sensor Adapter
Embedded Linux
© Elektrobit (EB) 2016 23
Performance Microprocessors A/B Safety MCU
AUTOSAR SWC
Linux Applications
Linux Kernel
Libraries
AUTOSAR SWC
Can | Ethernet | FlexRay | SPI | Lin
AUTOSAR SWC
Safety RTE
Safety OS
BSW
MCAL
E2E
TimE
RTE
AUTOSAR OS BSW DsCom
E2E
TimE
AUTOSAR SWC
EB tresos Safety Products
Application Software
EB tresos Autocore
• AUTOSAR SWCs & Linux Applications • Functional Safety & Security concept • Linux Libraries like OpenCV / CUDA • On Board Communication concept • AUTOSAR Tool Environment
EB tresos AD – Overview
© Elektrobit (EB) 2016 24
June 2016 - Specification Documents
June 2016 - Toolbox for EB Assist ADTF
Q3/2016 - Software Components for AUTOSAR
Q4/2016 - EB tresos AD for other Hardware
Now - EB tresos AD for NVIDIA / Infineon
© Elektrobit (EB) 2016 25
Project Level Architecture Manage complexity
€
Product Family Architecture Re-use specified, developed, industrialized and tested components
€€
Industry-Wide Standard Higher maturity of functions, safety and security mechanisms Easier entry into HAD function development More flexibility and choice, no vendor lock-in
€€€