V1.0 | 2018-11-14

High-End Datalogging System for Autonomus Driving

2

Logging Concept for ADAS Level 1-2

Log

Setup: Camera & Radar

Same Supplier

Time- Trigger- Start/Stop-Synchronisation √

Data 1 Raw Data: Video / Radar

Types: 2 ECU Internal Data: TAPI / XCP

3 Object Data: CAN-FD, Auto.Eth

ADAS Logging

3

Log 1

Log 2

Setup: Camera & Radar

Different Supplier

Logging Concept for ADAS Level 1-2

Time- Trigger- Start/Stop-Synchronisation ?

ADAS Logging

4

Log 1

Log2

Log 3

Log 4

Log 5

Setup: Multi-Sensor & Fusion ECU

Multi-Supplier

Logging Concept for ADAS Level 3

FrontRadar

CornerRadar

FrontCam

SideLidar

RearCam

ContextCam

Fusion-ECU

Time- Trigger- Start/Stop-Synchronisation ??

ADAS Logging

5

Logging Concept for ADAS Level 3

Log 1-5

Setup: Multi-Sensor & Fusion ECU

Multi-Supplier

Time- Trigger- Start/Stop-Synchronisation √

ADAS Logging

6

ADAS Logging Hardware and SoftwareADAS Logging

ADAS Logging, Visualization, Labeling, Analysis Software

ADAS Logging Hardware and Data Logistic

Bus Interfaces: CAN-FD, LIN, FlexRayAuto.Eth. 100/1000BaseT1 (TAP Mode)

Sensor and ADAS Fusion ECU Measurement Hardware

7

Scalable ADAS Software Concept Based on DHPR Plug-In

CANapeXCP RecorderBus Interface

Time SyncTrigger Handling

PC1

ADAS Logging Software

4 x Corner Radar

PC2

Eth. GPS UTCsupport

gPTPtimesync

Hardwarecluster

Multi-bus:

CAN-FD

LIN

FlexRay

Auto.Eth

Front Radar

2 x Lidar

4 x Context CAM

Vehicle CAM ADAS ECU

Vehicle CAM1 DHPR

Lidar1 DHPR

Reference CAM DHPR

Radar1 DHPR

Radar2 DHPR

8

4 in 1 Use Case: Logging / Visualization / Labeling / Data AnalysisADAS Logging Software

Logging Mode:Simple control mobile UI

Engineer Mode: Visualization & Calibration GUI

Labeling

Data Analysis

High-End Logging System

9

Visualization: Map, Video View, Bird-Eye View, 3D Scene ViewADAS Logging Software

10

ADAS Logging Software

CANape

4 x CAM

Image Base CameraCalibration

4:1 Video Encoderwith H.264 hardwarecompression

Visualization: Vehicle / Reference-CAM Calibration

1 Gb/Eth

Calibration qualitycoverage

Test object

11

Labeling with CANape Panel

In case of 2 test driver: Online labeling via CANape Panel

Automatic datamining can be used on labeling output

12

Data Analysis: Data Management System

Reporting

User Mgmt.

Index

Measurement Data

MDF

Pre-processing

?

Data Mining

Data Storage: Local database

(on premises) Vector Cloud

Signal & objectoriented data

Link to raw data

Automated Data Analysis

13

Data Analysis: Datamining WorkflowAutomated Data Analysis

Select Function or Simulink.dll

Execute datamining Generate hits

PDF Report

14

ADAS Logging Hardware

ADAS Logging System with Integrated CAN / LIN / FlexRay channel

Brick/Brick+ System Complex ADAS Setups Up to 10 Gb/s Brick Outlook

Up to 16 Gb/s Brick+

2 x 10 GbE Connector RJ45 GPS (position and time)

Storage Raid (up to 32 TB) Optional: 2 x PCIe extension

Outlook: Brick LE System Single sensor, Auto.Eth Up to 4 Gb/s Brick LE

2 x 10 GbE Connector RJ45 GPS (position and time)

PCIe Storage (up to 8 TB) 1 x PCIe extension

VN7572 PCIe

8 x CAN2 x Flexray

15

Data LogisticADAS Logging Hardware

Thunderbolt

HDD Storage

Docking Station

10 Gb/Eth

Storage Server Outlook: Programmable Copy Station

Move out Storage Bay

16

Bus-Interfaces: 100/1000BaseT1ADAS Logging Hardware

Brick-LE example setupwith 24 x Auto-Eth

Outlook: VN5240 = 12 * 100/1000BaseT1 PC connection 10 Gb/Eth + 10 Gb/Eth cascading port

VN5640 12+4 Channel 6 x / 3 x TAP 100BaseT16 x / 3 x TAP 100/1000BaseT14 x 1000BaseTx

PC connection: USB3.0

12 + 4 x Debug Interfaces LIDAR, Low-end Fusion-ECU & Radar

17

ADAS Fusion-ECU Combined PCIe + IFX Aurora POD ApproachADAS Logging Hardware

5 GbitPCIe

5 GB/s HSSL2 Cable

VX1461POD

MC Tool

CANape

1 x 2,5 Gbit/sAurora/DAP2

1 x FR A+B

5 x CAN-FD

SGMI Eth.#

 ECU Interfaces: uC: DAP2 / Aurora

DAS Concept fordynamic address

uP PCIe

5 x CAN-FD / 1 x FR A/B

1 x 100BaseT1 Auto.Eth.

1 x 100 BaseT1

18

ADAS Logging Hardware

2,5 GbitAURORA

VX1438POD VX1135

Base Module

MC Tool

Radar ECU

4 x 400 Mbit RIF Interface

CANape

CPU0

CPU1

CPU2

2 x 1 Gbit Eth.

Radar ECU Measurement: XCP and Radar Raw Data

HSSL2 Cable up to 8m

FFT, classification,detection, tracking >> calculation

Radar Raw Data >>

19

Video Logging Setup: Raw Data + TAPI + CAN-FD/Auto.EthADAS Logging Hardware

Camera-Imager

MobilEye

EyeQ4

ADAS ECU

10 GBit

TAPI DebugOutput 1 Gb Eth.

MIPI-CSI2

FPD-LinkIII

Vehicle-Camera

Serializer

uC

Eth. Debugg-Extension

MIPI-Bridge

USB 3.0

CAN-FD

Auto.Eth.

TAPI DHPR Video + TAPI Data

Online data validation

20

Outlook VX1161: Flexible Multi-Interface DeviceADAS Logging Hardware

Up to ECU 6 x Interface Modules POD: Serial / HSSL / HSSL2 Video Bus Interface: CAN / FlexRay

Switch Module 2 x 10 Gb 4 x 100/1000BaseTx or 100BaseT1

Example Setup11 x Front Radar / 2 x Corner Radar / 1 x Quad-Video / 6 x CAN+1 FR

Example Setup21 x Front Radar / 4 x Corner Radar / 1 x Fusion-ECU / 6 x CAN+1 FR24 x Auto.Eth

Cabeling:3 x 10 Gb Eth.

21 © 2018. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V1.0 | 2018-11-14

Author:Kless, AlfredVector Germany

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