© elektrobit (eb) 2016 | confidential 3 - gtc on demand...adtf os adapter autosar interface 1 high...

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© Elektrobit (EB) 2016 | Confidential 3

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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


• 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

8

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

© Elektrobit (EB) 2016 | Confidential

Hypervisor


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

10

ECU 1

Input Data

Output Data

Diagnostics

ECU 2

Diagnostics

Logic

Logic Output Input

Output Input

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© Elektrobit (EB) 2016 | Confidential

Enable Output

Enable Output


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


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


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


S e n s o r s

Your autonomous system



S a f e t y S u p e r v i s i o n


E g o 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




S I T T P L

S I T T P L


D a t a F u s i o n

Gateway



M o t o r s

H M I

S e n s o r s


S e n s o r s



HAD Function


E g o F u s i o n


G r i d F u s i o n




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 o r s

H M I



E B R o b o 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


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



HAD Function


E g o F u s i o n


G r i d F u s i o n




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 o r s

H M I



E B R o b o 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


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

1

1

0..*

0..*

0..* 0..*

1

1

0..*

[email protected]

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

http://www.elektrobit.com/

mailto:[email protected]

© elektrobit (eb) 2016 | confidential 3 - gtc on demand...adtf os adapter autosar interface 1 high...

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