presentation from cesa

© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.

V 0.01 2014-10-17

Tools for autonomous driving

Driver Assistance


V 0.01 2014-10-17

The Vector ADAS solution can be split in following parts:

ADAS software development environment

Cooperation between:

High speed ECU RAM access

Rapid prototyping and Bypassing solution

ADAS ECU road validation and data logging

Agenda


V 0.01 2014-10-17

Development environment for implementing and testing multi-sensor applications

Sophisticated algorithm framework for sensor

data fusion, probabilistic filtering and tracking

Integrated source code generator for complex environment perception algorithms

ADAS software development environment


Slide:

Connect Development environment

“Toolbox”: Sensor and component library, easily expandable..

“Designer”: Drag & Drop system design

Direct application source code

access

Integrated in MS Visual Studio


Slide:

CONNECT Example: Data Fusion

Data Fusion algorithm - Fast development with CREATE

- Use existing (C/C++/Cuda) code

Ready-to-use components

Convenient integration of own / proprietary components


Slide:

Development Benefit

System development tasks

Infrastructure tasks

100% Time

C++ framework

CONNECT

Productivity gain by:

Out-of-the-box data handling

Factor ~10 times less lines of code

Quick results

CONNECT

100 % productive development time increases compare to C++ framework

x 2


Slide: 7

VX1000 - High Speed RAM access

Time

Mea

sure

men

t ba

ndw

idth

CCP/XCP on CAN Data rate

Example: > Chassis 30 MB/s > Powertrain 5 MB/s

Example: 1 MB/s > Damping, Steering > LDW, Parkassist

Example: > EV/HEV 10 µs > Radar ECU 40 MB/s

2000 2005 2014

Measurement bandwidth requirements


Slide:

Standard Debug / Trace Ports:

- JTAG / DAP

- NEXUS / AURORA

ECU Plug On Device

Base Module

MC Tool

Standard ASAM Interface: - XCPonEthernet

max. 10 cm

max. 7,5 m

Automotive qualified: - High Speed Cable

Measurement Tool

Bypass Execution Unit

Two principle measurement concepts:

> RAM data copy up to 3 MByte/sec with µC load

> Data Trace up to 30 MByte/sec without µC load

Ethernet

VX1000 - High Speed RAM access

Rapid Prototyping: Very low latency bypassing

Flash Programming: Fast and “Brain-Dead” ECU flashing

Bus Monitoring: 4 x CAN / 1 x FlexRay channels


Slide:

VX1000: Debug / Serial Bus Interface

ECU RAM for Measurement

ECU RAM for Application

Datarate: > CAN ~10 kB/s > Private CAN for MC ~50 kB/s > FlexRay ~ 100 kB/s > JTAG ~1000 kB/s > DAP/LFast ~5000 kB/s

Additional CPU load:

~ 3 % µC load per 1 MB/s ( 300 MHz CPU)

DAQ Adress

ECU Plug On

Device

Base Module max.

10 cm max. 8,5 m

MC Tool +

Datalogger/ Bypass

XCP on Ethernet

UseCases:

> Park-Assist / LDW

> Headlight ECU


Slide: 10

500 MB/s AURORA

100 MB/s HSSL Cable

30 MB/s XCPonEth

VX1452 POD

VX1132 Base Module

MC Tool

Microcontroller

IFX Aurix or FSL MPC57xx

Pins: JTAG/DAP pins + Aurora: 1- 4 Aurora Lanes ( up to 3,1 GBit )

Signal prefiltering and 128 MByte buffer

ECU

VX1000: Aurora Data Trace Interface (No CPU load)

UseCases:

> DCU (DomainControlUnit) for (semi-) autonomous driving

> Radar-ECU


Slide: 11

Principle External Bypass-Execution

Bypass - Signal flow

1 + 2 Read out ECU parameter

3 Calculate algorithm outside ECU

4 + 5 Write signals back into ECU with timeout supervision

1.

Running Model 2.

4.

5.

RT Execution-Platform

XCP

slave slave

CANape^/

Rapid Prototyping / Bypassing

Use Cases for External Bypass:

New Algorithm can be executed on an older ECU ( too less RAM/ performance), which is integrated in the vehicle

Especially OEM can test and compare new algorithm, without recompiling and flashing the ECU

3.


Slide:

CANape Bypass GUI

USB

VN8912 I7 Core (2x2,7 GHz)

Bypass 1

VX1132

Bypass 2

ECU

ECU has 2 microcontroller

µC1 = Automotive (2 x 300 MHz)

µC2 = High performance (4 x 1 GHz)

Bypass requirements:

High Performance

Multi Core Bypassing

Easy switching between

ECU internal & External bypass execution

Robust solution for in vehicle usage

Standalone use case

XCPonEth.

VX1452 POD

Aurora

VX1132

VX1544 POD

LFast

µC1 µC2

Rapid Prototyping / Bypassing Setup for autonomous driving ECU


Slide: 13

MATLAB/Simulink – Automatic Bypass Instrumentation

ECU Model

VCreateBypass

ECU model with Bypass disable/ enabled

Generation of a new model for external bypass execution


Simulink Plug-In


Slide: 14

Automatic Bypass Instrumentation - MATLAB/Simulink

Series ECU-Code

Development ECU-Code


Slide:

CANape – Validation and Logging

Features: Object overlay in video and GPS window

Free configurable bird view

Flexible and easy to use Object Editor

Fast camera calibration


Slide: 16

CANape – Validation and Logging

Use Case: Radar ECU >>

Video / Bird / GPS View

Car Moving profile

<< Use Case: Lane Departure Warning


Slide: 17

CANape – Validation and Logging Use Case: Autonomus Parking

Display of car movement, steering angle, ultrasonic sensor, used street surface

Measurement: Object distance and object angle


Slide:

CANape – Validation and Logging Use Case: ADASIS protocol support

Display of all possible routes received as “Stub” messages via CAN


Slide:

Complete ADAS measurement and logging solution

Diagnostic CAN,LIN,FR, CCP KWP Trace

GPS position drawing

Simulink Model Viewer

Video + Overlay

Signal display

Calibration Parameter


Slide:

Summary

Vector offers an complete ADAS tooling environment for all kind of ADAS use cases, supporting:

ADAS software development environment incl. code generation

Software in the Loop

Hardware in the Loop


Road Validation and Logging

20


Slide: 21

Thank you for your attention.

For detailed information about Vector

and our products please have a look at:

www.vector.com

Author: Alfred Kless

presentation from cesa

Automotive

vector informatik gmbh

prior written approval

vector adas solution

ram data

sensor data fusion

data rate example

mbs example

c load data trace