Date post: | 07-Aug-2015 |
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© 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
© 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
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
© 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
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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.
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
Rapid Prototyping / Bypassing
Simulink Plug-In
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 14
Automatic Bypass Instrumentation - MATLAB/Simulink
Series ECU-Code
Development ECU-Code
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide: 16
CANape – Validation and Logging
Use Case: Radar ECU >>
Video / Bird / GPS View
Car Moving profile
<< Use Case: Lane Departure Warning
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
Slide:
CANape – Validation and Logging Use Case: ADASIS protocol support
Display of all possible routes received as “Stub” messages via CAN
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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
Rapid Prototyping / Bypassing
Road Validation and Logging
20
© 2014 . Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector.
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