items to specify: 4 - d23rjziej2pu9i.cloudfront.net · valet parking interactions: ... c++, model...

© Elektrobit (EB) 2016

Radar

target vehicle candidates, their velocity / acceleration

Steering Wheel Angle

target vehicle selection

Motor Speed Control

ego vehicle speed control

Head Unit

system activation, status communication

Items to specify: 4

© Elektrobit (EB) 2016 4

0

5

10

15

20

25

30

2002 2004 2007 2010 2013 2015

Items to specify

1999: Mercedes S-Class Distronic

2002: VW Phaeton ACC

2005: Mercedes S-Class Distronic plus

2010: Audi A8 GPS-guided ACC

2006: Audi Q7 ACC plus / AEB

2013: Mercedes S-Class Dist.+ / Steering Assistant

2015: Audi Q7 Traffic Jam Assistant


Radar

Camera

LIDAR

Sonar

Steering Wheel Sensors

Wheel Speeds

IMU / Gyro

Global Position

Maps

Motor Speed Control

Brake Pressure

Steering Angle Control

Regenerative Braking

Static obstacles

Lanes

Moving objects

Vehicle ego motion

Signs

Trajectory planning &

control

Fail-safe / -degraded

mechanisms

Head Unit

Side Tasks

Functional safety

Redundancies

Items to specify: 24


Radar

Camera

LIDAR

Sonar


Wheel Speeds

IMU / Gyro

Global Position

Maps

Motor Speed Control

Brake Pressure

Steering Angle Control

Regenerative Braking

Static obstacles

Lanes

Moving objects

Vehicle ego motion

Signs

Head Unit

Side Tasks

Functional safety

Redundancies

Items to specify: 24

Trajectory planning &

control

Fail-safe / -degraded

mechanisms


Radar

Camera

LIDAR

Sonar

Steering Angle

Wheel Speeds

IMU / Gyro Global

Position

Maps

Automated Driving

Automated Emergency Brake

Automated Valet Parking

Interactions: 𝒏 × 𝒎 for 𝒏 sensors, 𝒎 functions

Sensor Data Fusion


Radar

Camera

LIDAR

Sonar


Wheel Speeds

IMU/ Gyro

Global Position

Maps

Static obstacles

Lanes

Moving objects

Vehicle ego motion

Signs

Interactions: 𝒏 + 𝒎 + 𝐤 for 𝒏 sensors, 𝒎 functions, 𝒌 abstraction components

Automated Driving




Automated Driving



Sensor Data Fusion: From echos to objects and free space

Motion Management: From brake pressure to trajectory control

HMI Management: From buttons and LEDs to user interactions


Automated Driving



Well-defined interfaces




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Project-Level Architecture Best Practices: Reduce complexity

€

Product Family Architecture Best Practices: Re-use specified, developed, industrialized and tested components

€€

Industry-Wide Architecture Best Practices Peer review of functionalities, safety and security mechanisms Lower entry into HAD development No vendor lock-in €€€


Open robinos

• Specifies a reference platform for automated driving up to Level 5 (SAE)

• Freely available and

licensed as Creative Commons

EB robinos • Software modules • for prototyping

in EB Assist ADTF • for rapid embedding

on AUTOSAR • for production

on vehicle ECU

• Developed, tested, verified

according to functional safety standards

13 © Elektrobit (EB) 2016

14

Rapid prototyping

C, C++, Model based

EB robinos

EB Assist ADTF

Desktop PC / Car PC


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‒

‒

‒

‒

‒

‒

www.try-eb-robinos.com

http://www.try-eb-robinos.com/





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Rapid prototyping

C, C++, Model based

Embedded prototyping

C, C++

EB robinos

EB Assist ADTF EB tresos solution for AD

Evaluation Hardware Desktop PC / Car PC


‒

‒

‒

•

•

•

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Rapid prototyping

C, C++, Model based

Embedded prototyping

C, C++

Automotive grade software

EB robinos

EB Assist ADTF EB tresos solution for AD

Domain Control ECU Evaluation Hardware Desktop PC / Car PC


Ve

hic

le A

bst

ract

ion

- S

en

sors

Safety Management

Fun

ctio

n S

pe

cifi

c V

iew

s

Positioning

Object Fusion

Grid Fusion

Road and Lane Fusion

Vehicle Database

Sensor

Data Fusion

Trajectory Control

Longitudinal Control

Lateral Control

Motion Management

HMI Management

Behavior

Behavior

Behavior

Situative Behavior Arbitration

Situation Analysis

Situation Analysis

Situation Analysis

Path Planning

Path Planning

Path Planning V

eh

icle

Ab

stra

ctio

n -

Act

uat

ors

17 © Elektrobit (EB) 2016

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Example Application: Automated Valet Parking


Industry-Wide Architecture Best Practices Peer review of functionalities, safety and security mechanisms Lower entry into HAD development No vendor lock-in €€€

Summary

Automated driving systems are complex

Efficient collaboration requires a standard architecture

Open robinos ist the first step open-robinos.com

[email protected]

http://www.elektrobit.com/

mailto:[email protected]

items to specify: 4 - d23rjziej2pu9i.cloudfront.net · valet parking interactions: ... c++, model...

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