Automated Driving is the declared Systems evolve …...Higher maturity of functions, safety and security mechanisms Easier entry into HAD function development More flexibility 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



Radar

Camera

LIDAR

Sonar


Wheel Speeds

IMU / Gyro

Global Position

Maps

Motor Speed Control

Brake Pressure



Static obstacles

Lanes

Moving objects

Vehicle ego motion

Signs


control


mechanisms

Head Unit

Side Tasks

Functional safety

Redundancies


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


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


Radar

Camera

LIDAR

Sonar


Wheel Speeds

IMU / Gyro

Global Position

Maps

Motor Speed Control

Brake Pressure



Static obstacles

Lanes

Moving objects

Vehicle ego motion

Signs


control


mechanisms

Head Unit

Side Tasks

Functional safety

Redundancies



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


Radar

Camera

LIDAR

Sonar


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 Driving



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


Automated Driving



Well-defined interfaces





Research & Development

Rapid prototyping

C, C++, Model Based

PC Evaluation Hardware

Rapid embedding

C, C++

Target ECU

Series Production

Automotive Grade Software


Research & Development

Rapid prototyping

C, C++, Model Based


Rapid embedding

C, C++

Target ECU

Series Production

Automotive Grade Software


Rapid prototyping

C, C++, Model Based


Rapid embedding

C, C++

Target ECU

Automotive Grade

Software

EB tresos AD EB Assist ADTF

Software Architecture and Modules for Automated Driving







•

•

•

•


•

•

•

‒

EB Modules 3rd-Party Modules Your Modules

Software Module Grid Fusion


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


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


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


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

€€€


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