Automatic Scenario Generation by Advanced Offline Processing …alaink/SmartDrivingCars/... ·...
Transcript of Automatic Scenario Generation by Advanced Offline Processing …alaink/SmartDrivingCars/... ·...
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Ibeo Automotive Systems GmbH
Automatic Scenario Generationby Advanced Offline Processing
for Ground truth Evaluation
Dr. Ulrich Lages, MBACEO Ibeo Automotive
Tokyo, 13 October 2013
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• 1998 Foundation of Ibeo Company
• 2000 Ibeo becomes part of Sick AG
• 2000-2008 Laserscanner Innovations– Development of Laserscanner Technology
– Several Projects on Autonomous Driving
– Development of Intersection Safety Assist (funded by the European Commission)
– Intensive Marketing on Laserscanners
– Worldwide Sales of Laserscanner Samples
• 2009/10 Management Buy-Out
• 2010 Cooperation Contract with VALEOfor mass production Laserscanner (Scala)
• 2013 Reference Sensor for AutomaticScenario Generation for PreScan (TASS)
• 201x SOP of Ibeo Scanning Technology
Ibeo Automotive Systems GmbH
sQuba
4 plane Scanning
PedestrianProtection
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• 1998 Foundation of Ibeo Company
• 2000 Ibeo becomes part of Sick AG
• 2000-2008 Laserscanner Innovations– Development of Laserscanner Technology
– Several Projects on Autonomous Driving
– Development of Intersection Safety Assist (funded by the European Commission)
– Intensive Marketing on Laserscanners
– Worldwide Sales of Laserscanner Samples
• 2009/10 Management Buy-Out
• 2010 Cooperation Contract with VALEOfor mass production Laserscanner (Scala)
• 2013 Reference Sensor for AutomaticScenario Generation for PreScan (TASS)
• 201x SOP of Ibeo Scanning Technology
• VOLVO Trucks
– Truck shown with 1 Ibeo Laserscanner
• NISSAN
– Car shown with 3 Ibeo Laserscanners
– Car shown with 6 Ibeo Laserscanners
• ENERGY ITS
– Trucks shown, each with 1 Ibeo Laserscanner
• CITYMOBIL2
– INDUCT veh., each with 4 Ibeo Laserscanners
• AUTONET
– VALEO named: Ibeos mass production partner
• AMAS
– Trucks shown, each with 2 Ibeo Laserscanners
ITFVHA 2013 - Presentations
sQuba
4 plane Scanning
PedestrianProtection
Great Day – Thank you!Great Day – Thank you!Ibeo sponsors all drinks tonight!
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• SOP 2015/16 (Valeo)• FOV 145 x 3.2 deg (4 Layers)• Range 0.3 m … 200 m• Resolution 4 cm / 0.25 deg
• SOP tbd, Samples 2014 (Ibeo)• FOV 180 x 2.0 deg (1 Layer)• Range 0.05 m … 40 m• Resolution 4 cm / 1.0 deg
Ibeo Massproduction Laserscanners
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Ibeo miniLUX: 3D Parking Slots / Curbstones / …
Mo
Miniaturized Laserscanneribeo miniLUX for Hatchdoor Mounting
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ibeo LUX/ LUX 8L
ScaLa 1403* ibeo miniLUX
ScaLa 1403 vs. ibeo LUX(s) vs. ibeo miniLUX
ibeo LUX HR/ 16L
Ibeo AutomotiveReference
Laserscanners
Ibeo AutomotiveMass ProductionLaserscanners
145° HFOV, 4 Layers x 0.8°, range 0.30 to 150 m, resolution 4 cm/ 0.25°
180° HFOV, 1 Layer x 2.0°, range 0.05 to 40 m, resolution 4 cm/ 1.0°
90° HFOV, 4/8 Layers x 0.8°, range 0.30 to 200 m, resolution 4 cm/ 0.10°
90° HFOV, 8/16 Layers x 0.4°, range 0.30 to 250 m, resolution 4 cm/ 0.10°
(New 2014)
(New 2014)
*) produced by Valeo
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Reference Laserscanner ibeo LUX
Power Consumption
Dimensions WxDxH [mm]
Measurement Range (Veh.)
Range min - max
Wave length
Velocity accuracy (v x,vy)
Update Rate
Angular resolution (hor)
Field of view (hor)
Distance resolution
embedded object tracking
Angular resolution (vert)
Field of view (ver)
Measurement Range (Ped.)
Distance error
Weight
Processing latency
CAN Interface
Flexray Interface
other Interfaces
0.04 m
0.25°/0.10°
905 nm
0,3 - 327 m
> 200 m
3.2°
4 layers @ 0.8 °
90°
<30 ms
> 65 m
<0.1m
1 m/s
25 Hz (40ms)
<60 ms
900 g
128x93x85
<12W
yes (500kb)
no
ETH (debug)
>30 tracks (*)
ibeo LUX
LaserscannerIbeo LUX with
EmbeddedObject Tracking
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Ibeo LUX: Design Integration (examples)
Ibeo LUX is used for (1) application development and (2) reference sensing
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9CONFIDENTIAL
GM/CMU's new autonomous Cadillac (February 2013)
6x ibeo LUX Laserscanner:• Two at bumper level
facing forward• One mounted on the
roof facing forward• One inside each rear
side window looking out sideways
• One facing backward.
12
3
4,5
6
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BMW's new Connected
Drive 5series (February 2013)
6x ibeo LUX Laserscanner:• One mounted under the
licence plate facing forward
• Two mounted at bumper level at the front corners turned to the sides
• Two mounted at bumper level behind the rear tyres facing sideways
• One facing backward
13 2
4,5
6
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NISSAN's LEAF: Advanced Driver
Assistance System (September 2013)
6x ibeo LUX Laserscanner :• One mounted over the licence plate facing forward • Two mounted at bumper level at the front corners tu rned to the sides• Two mounted at bumper level before the rear tyres fa cing sideways• One facing backward
1
3
2
4,5
6
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Automatic Scenario Generation
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Modelling the Reference Object Track
A: Detection of the object at high dis-tance at T0
T0
obj
AT0
Video: Landstrasse
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Modelling the Reference Object Track
A: Detection of the object at high dis-tance at T0
B: Classification of the object in near field at TX
T0 TX
obj
car
A BTX
BSC:Best Situation Classification
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Modelling the Reference Object Track
A: Detection of the object at high dis-tance at T0
B: Classification of the object in near field at TX
C: Forward-/Back-ward Tracking with Best Situation Classification from TX and to T0 (Ref)
T0 TX
obj
car
A B C
TimeMachineApproach
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Modelling the Reference Object Track
A: Detection of the object at high dis-tance at T0
B: Classification of the object in near field at TX
C: Forward-/Back-ward Tracking with Best Situation Classification from TX and to T0 (Ref)
D: Autolabelled Object with consis-tent Track for Refe-rence Purpose from T0 to TX (Ref) T0 TX
obj
car
car
T0-TX (Ref)
A B D
TXcar
T0
C
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Automatic Scenario Generation
• Auto-Classified & Auto-Labelled Objects
• Relevant Background Information
• Scenarios are Scanner-independent
• Lane Markings & Curbstones (ongoing)
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Real World Scenarios
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Straight Road in Gothenbourg on 02 Sept. 2013
Video: Straight Road_Forward_Ibeo
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Roundabout in Gothenbourg on 01 Sept. 2013
Video: Roundabout_Forward_Ibeo
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Highway for Multi-Target-ACC on 08 May 2013
Video:ACC_BAB 7_2er Fusion LUX_C_Forward-Backward-Tracking-Advanced_130508
The video image shows 4 vehicles.The Laserscanner birdview shows 5 vehicles.
Reason: 2 ibeo LUX laserscanners mounted at the corners.
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Optional Features
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Lanemarkings & Curbstones
• Ibeo Laserscanner Lane Marking Detection and Curbstone Detection
• Verification of Road Users (pedestrian is either located on pavement or on road)
• Provision of Integrated Maps, meaning that all Traffic Participants are positioned and tracked with respect to lane markings and road edges
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Sign Recognition
• Today Ibeo Laserscanner detect and track road signs on highways and country roads
• An Automatic Offline Interpretation of the sign content can be implemented (an automatic process that is based on pictures of the signs taken during the test ride)
• For detection of road signs in urban areas/ cities, an additional laserscanner is required and an additional camera for taking pictures in the near field
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Real World Scenarios automaticallytransferred into the virtual world of
PreScan for further Evaluation
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Automatic Scenario Generation – WHY?
Simulation tool for ADAS and
active safety systems
1) USERS of PreScan
In the PAST:Users got standard scenarios delivered by TASSUsers had to design their scenarios manually
TODAY:Users can get access to a TASS database with real world scenariosUsers can generate their individual scenarios automatically from the real world
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Automatic Scenario Generation – WHY?
2) OEMs/TIERs to evaluate their Sensors
In the PAST:OEMs/TIERs had to label all relevant objects after a test ride manuallyOEMs/TIERs had to search for relevant scenarios semi-automatically/manually
TODAY:OEMs/TIERs can label all relevant objects after a test ride automaticallyOEMs/TIERs can search for relevant scenarios automatically
d = 85.6 m
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(1) Real World Test Drives
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Ped 85 mPed 47 m
(1) Real World Test Drives
Car 12 m
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Ped 47 m
(1) Real World Test Drives
(2) Automatic Scenario Generation
Ped 85 m
Car 12 m
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Ped 85 mPed 47 m
Car 12 m
(2) Automatic Scenario Generation
(3) Virtual World Evaluation
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(1) � (2)Automatic Scenario
Generation from Real World Driving
(2) � (3)Automatic Transfer
into the Virtual World ofPreScan for Evaluation
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From Reference Sensing to DUT Evaluation
Test driving
Reference sensor system
Process data (online)
Device under Test
Process data (online & offline)
Tracked & classified data
Tracked & classified data
Difference
Auto-generation of PreScan scenario models
Real-life scenarios
“ground truth”
Scenario variation & DUT evaluation
Selection of relevant events
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Model variation of PreScan
Automated modification of model parameters• Different weather conditions• Adverse light conditions• Different pedestrian speeds and directions• Different vehicle speeds• Different road conditions• Etc.
Snow conditionsEvening + street lightsExtra road users
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Finally…
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Coming soon: Foundation of TCA
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Your contact at Ibeo Automotive
Dr. Ulrich Lages, MBACEO
Ibeo Automotive Systems GmbHMerkurring 60-62D-22143 Hamburg
Tel: +49-40-298 676-120Fax: +49-40-298 676-10Mob: +49-172-417 3855
Email: [email protected]