from prototyping to series production code. · ecu series-production-ready embedded data fusion...

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From prototyping to series production code.

About BASELABS

• Focus on sensor data fusion

• Series compliant softwareASPICE and ISO26262

• Founded in 2012

• Strategic partnership withVector Informatik GmbH

• Team of 50+

• Trusted by OEMs and suppliers worldwide

• Active contributors in research

Business model

Product• Standardized data fusion software library

• Direct integration in AUTOSAR

• Basis for development of customer IP and

proprietary software – designed for re-usability

• Resource- and cost-effective access to (non-

differentiating) commodity software parts

Engineering services• Custom development of data fusion

implementations for specific use cases

• A-D Sample

• Extensive background IP can be used and be

licensed to the customer

• Exclusivity for customers can be granted

• Common use case: diverse path in a safety

architecture

Challenges of environment perception

Motivation for Sensor Data Fusion

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Multi-Sensor Data Fusion

Typical sensors for Advanced Driver Assistance Systems and Highly

Automated Driving in an exemplary setup

▪ radar sensors

▪ camera sensors

▪ lidar sensors

(ultrasonic sensors left out for simplicity)

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• False negatives

• False positives

• Measurement cardinality

• Measurement noise

• overlapping sensor fields of view

• complementary sensor fields of view

• fusing data from multiple sensors / technologies

• tracking objects consistently over all sensor fields

Multi-Sensor Data Fusion

Challenges

Options for data fusion development

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Sources of Sensor Data Fusion Systems

?

Radar Data

Camera Data

Lidar Data

Driving FunctionFCW, AEB, ACC, TJA, HWP, …

Steering

Throttle

Brake

Data Fusion(C-Code)

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Integration

ECU


How can we get data fusion systems?

?Data Fusion

Algorithm(library)

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Integration

ECU


Data fusion system can be provided by suppliers

matching data fusion library

Data Fusion

Algorithm(library)

13

Integration

ECU


Data fusion system can be provided by suppliers – what happens when a

sensor is changed?

Data Fusion

Calibration Tools

Data Fusion

SDK Functions(C-Code)

Data Fusion

Calibration Tools

Data Fusion

Sensor Models(C-Code)

Data Fusion

Calibration Tools

Data Fusion

Algorithm(library)

matching data fusion library

?

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Integration

ECU


Data fusion systems can be implemented via in-house development

user inputData Fusion

Calibration Tools

Data Fusion

SDK FunctionsData Fusion

Calibration Tools

Data Fusion

Sensor ModelsData Fusion

Calibration Tools

Data Fusion

ArchitectureData Fusion

Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion

Architecture(C-Code)

source codecompilation

for platform

Data Fusion

Calibration Tools

Data Fusion

Algorithm(library)

In-house

Data Fusion

Implementation

In-house

Data Fusion

Implementation

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Integration

ECU

In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion



Data fusion systems can be implemented via in-house development – what

happens when the sensor setup is changed?

user input

In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion



for platform

?Data Fusion

Calibration Tools

Data Fusion

Algorithm(library)

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Integration

In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion




happens when the sensor setup is changed?

user input

In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion



for platform

Data Fusion

Calibration Tools

Data Fusion

Algorithm(library)

ECU

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Integration

In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion




happens when the sensor setup is changed again?

user input

ECU

In-house

Data Fusion

Implementation

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion



for platform

Data Fusion

Calibration Tools

Data Fusion

Algorithm(library)

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IntegrationConfiguration CalibrationPC ECUPC

With a modular architecture, data fusion systems can be implemented…

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


compilation

for platformuser input

In-house

Data Fusion

Implementation

source code

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


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Integration

ECU

Data Fusion

Calibration Tools

Data Fusion

SDK Functionscompilation

for platform

Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Data Fusion

Calibration Tools

Data Fusion


Calibration Tools

Data Fusion


Sensor

Models(Pre-defined)

Sensor

Models(Pre-defined)

Data Fusion

Architecture(configurable templates)

Object fusion and arbitrary custom

modifications to the data fusion algorithm

Sensor

Models(Pre-defined)

Sensor

Models(Pre-defined)

Data Fusion

SDK Functionstested data fusion software units,

functions, models and algorithms

Sensor

Models(User-defined)

Sensor

Models(User-defined)

Data Fusion

Sensor Models(configurable templates)

utilization of off-the-shelf and

custom cameras, radars, lidars

user input source code

Data Fusion

Designer

Data Fusion

Generatorsensor

configuration

Data Fusion

Calibration Tools

Data Fusion


With a modular architecture, data fusion systems can be implemented using a

configurable library

Radar Data

Camera Data

Lidar Data

Driving FunctionFCW, AEB, ACC, TJA, HWP, …

Steering

Throttle

Brake

Data Fusion(C-Code)

Data FusionC-Code

Generate data fusion systems

Series-production-readyECU

Embedded data fusion library

Graphical configuration

ASPICE, ISO26262, MISRA

Early data fusion

system integration and

testing

Software Detailed

Design & Unit

Construction

Rapid prototyping

through graphical data

fusion configuration

Focus on driving system instead of

data fusion implementation

Continuous data fusion

system integration and

testing

ASPICE and ISO26262 compliant data fusion

“by pressing a button”

including software unit verification

60% cost reduction

compared to in-house

development

Short time to market Limited series project

risk

Data Fusion

Requirements

Data Fusion C-Code

for Series Production

Data Fusion C-Code

for Prototypes

http://bit.ly/wp-cost-reduction

Business model

Product• Standardized data fusion software library

• Direct integration in AUTOSAR

• Basis for development of customer IP and

proprietary software – designed for re-usability

• Resource- and cost-effective access to (non-

differentiating) commodity software parts

Engineering services• Custom development of data fusion

implementations for specific use cases

• A-D Sample

• Extensive background IP can be used and be

licensed to the customer

• Exclusivity for customers can be granted

• Common use case: diverse path in a safety

architecture

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BASELABS Create Embedded

Overview

• Data fusion software

• Embedded library

• Object fusion for

• AEB

• ACC

• Highway Pilot

• Supports

• Radar

• Camera

• Lidar

• Runs on embedded systems, e.g. Aurix 2G, Renesas RH850, ARM

• Series production ready (ASPICE)

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Customer examples

1R1V object fusion as part of a series development for an OEM

Objective

Sensor setup

Target plattform

Object fusion for an AEB driving function

Two-sensor setup with a front radar and a

front smart camera

Renesas RH850 240MHz

https://www.baselabs.de/engineering-services/data-fusion-for-aeb/

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Customer examples

360° object fusion for a prototype of a Tier1 supplier

Objective

Sensor setup

Target plattform

360° object fusion for highway pilot, B-Sample

Front radar

Corner radars

Lidar (providing object lists)

Camera

Renesas R-Car H3

Usage at customer

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Backup

„safety module“

Safety Module

BASELABS complements decomposed safety architectures: diverse path or

backup “safety module”

Sensors Actuators

Customer Environmental Model

– primary path

Environmental Model - secondary path

• By BASELABS or

• By customer (partners) with

BASELABS product usage

Diverse path

ASIL D Environmental Model

ASIL B (D)

ASIL B (D)

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Backup

„safety module“

Safety Module

BASELABS complements decomposed safety architectures: diverse path or

backup “safety module”

Sensors Actuators

Customer Environmental Model

– primary path

Environmental Model - secondary path

• By BASELABS or

• By customer (partners) with

BASELABS product usage

Diverse path

ASIL D Environmental Model

ASIL B (D)

ASIL B (D)

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Business model

Version history

01.03.2019

Release 2.0:

• Width and length estimation

• Model wizards

15.04.2019

Release 3.0:

• Smart radar measurement model

• Expert mode

• Improved model extensibility and

reusability

• Visualization of object length and width

• Improved workflow for series

development

18.10.2019

Release 4.0:

• Classification fusion

• Handling of out-of-sequence

measurements (OOSM)

• Runtime calibration

• Visualization of ego motion data

• Track statistics

• Traceability

• Host vehicle parameters

19.07.2019

Initial release

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Data Fusion

Designer

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Holger Löbel

Senior Business Development Manager

Co-Founder

+49 371 3371 51 21

[email protected]

from prototyping to series production code. · ecu series-production-ready embedded data fusion...

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