Tooling Overview ADAS - Status & Ongoing Developments
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1 Tooling Overview ADAS - Status & Ongoing Developments Vector India Conference 2017 V
2 ADAS solution - Efficient development of multisensor applications Contents of Vector ADAS solution algorithm prototyping ADAS Algorithm & software development Rapid prototyping and Bypassing ADAS ECU Data recording and Road validation High speed ECU (RAM) measurement Typical user group: Algorithm & function developers vadasdeveloper Development tool for implementing, debugging and testing multi sensor applications in Visual Studio (C#, C/C++) Algorithm toolbox / library for sensor data fusion, probabilistic filtering and tracking Generic source code generator for complex algorithms 2
3 vadasdeveloper - Prototyping environment for Sensor Data Fusion Development tool for implementing, debugging and testing multi sensor applications Automotive network access, cameras, LIDAR etc. for algorithm prototyping in C#/C++/C Extensible User-built components Domain libraries (OpenCV, Simulink DLLs etc.) Built-in High Performance Recording (CANape engine) Data replay - offline analysis and debugging BST (own format), MDF Custom file types, ADTF Raw data for sensor resimulation Integrated into Microsoft Visual Studio - easy offline debugging. 3
4 vadasdeveloper - Prototyping environment for Sensor Data Fusion Fusion Example : 360 Multisensor Application (radar/video fusion) 8 radars (2 long/2 mid/4 corner), 1 object detecting camera ECU (MobilEye), 2 reference cameras 4
5 vadasdeveloper 2.5 New Features New Visualization Component Video, Map & Scene views Simple display of object overlays in all windows Interactive configuration No need for graphics coding Video display & GFX object overlay Web based map display 3D Scene display Perspective display of objects 2D (windows pixel based) status information OpenStreetMap, HERE, (tiles) Vehicle position, street signs, sensor detections Freely configurable view and perspective Hotkeys for Bird s Eye, Ego- Vehicle, Driver- and Rear-view 5
6 vadasdeveloper 2.5 New Features Working with reference cameras - Automatic Video Calibration Process Vector Camera Calibration Tool (CANape 15 & vadasdev 2.0 SP) Easy Pixel-to-Vehicle-coordinates calibration for reference cameras using chessboard Also supports fish-eye cameras 6
7 vadasdeveloper 2.5 New Features Working with LIDARs - Scene view & LIDAR drivers Performance optimized display for complex data and high data rates Use case: Perception and LIDAR point cloud display Built-in drivers for LIDARs and reference systems Velodyne IBEO (LUX/HAD) Upcoming: Quanergy 7
8 vadasdeveloper 2.5 New Features Visualization Component GFX Configuration Object based graphical configuration for object display/overlay Predefined graphical objects like Cuboid, PointCloud, CircleSector, Text, Coordinate systems: Cartesian, Spherical, Geographic, Pixel Predefined unit conversions: m, km, yd, mile, Select GFX-Object Type VIDEO Bind Application data to GFX-Object properties Select Application Data Object (output pin) Drag & drop data object 8
9 vadasdeveloper 2.5 New Features Video: Easy-to-use 3D graphics & LIDAR support 9
10 vadasdeveloper - Prototyping environment for Sensor Data Fusion Outlook Prototyping Environment More sensors LIDAR, HD maps, V2X ETH, SomeIP support Tool coupling and FMI Simulation environments as data source/data sink Timesync Support for PTP / GPS 10
11 vadasdeveloper - Prototyping environment for Sensor Data Fusion Detail: ClosedLoop MIL (study) Control of virtual scenario Replay premade scenario, or Virtual Scenario Framework Artificial road scene Vehicle dynamics model Parameterize scenario template from test control e.g. > Object trajectories > Lighting conditions > Sensor model parameters (false detections rates, time behavior,..) Testcase_1 Testcase_2 Testcase_n Dynamic model output Baselabs Models Real time capable, probabilistic sensor models FDX or FMI/FMU FMI/FMU Sensor output from virtual scene e.g. radar objects, Includes sensor error modeling (checking robustness of algorithm) Test Controller DUT Control by tester vadasdeveloper Algorithm result FDX 11
12 ADAS solution ECU Data recording and Road validation Contents of Vector ADAS solution / Typical Use Cases ADAS Algorithm & software development Rapid prototyping and Bypassing ADAS ECU Data recording and Road validation High speed ECU (RAM) measurement CANape Option Driver Assistance Typical user group: ECU Validation engineers Time synchronized measurement and calibration of ECUs Graphical object overlay - Video/GPS window - Bird s eye view 12
13 ADAS solution ECU Data recording and Road validation Occupancy Grid (New in CANape 15) Use Case Where are drivable regions? Typical input to path planning algorithms Display of static vehicle surrounding in a 2D grid BirdsEyeView Perspective display (video overlay) Sensor 1 Data Fusion Result Algorithm Visualization Sensor Acquisition from ECU Direct - as A2L Map via XCP, or Built-up map in CASL user code from ECU signals 13
14 ADAS solution ECU Data recording and Road validation CANape 15 - Distributed High-Performance Recording for XCP on Eth devices Distributed High-Performance Recording on one or more PCs Time synchronization, start, stop, trigger via Ethernet Extension with customer specific (raw data) recorders possible 14
15 ADAS / HAD ADAS solution ECU Data recording and Road validation Some challenges ADAS / HAD has for MC tools Multicore / Multiprocessor IncrBandwidth on physical access / debug ports HW 64bit XCP has 32+8bit address space Ethernet No Passive listening on stub line any more AS adaptive / POSIX OS Memory virtualization by OS SW Dynamic Objects SOA Ever changing semantics on RAM addresses Must connect actively to ECU data provider service TimeSync/TSN Tool must know about ECU s time domain(s) 15
16 ADAS solution ECU Data recording and Road validation CANape 15 - Distributed High-Performance Recording for XCP on Eth devices Up to 1 Gbyte/s per recording PC Scalable 16
17 ADAS solution High speed ECU (RAM) measurement High End Aurora approach ECU VX145x POD Up to 25 Gbit AURORA (was: 6) 5 Gbit (was: 1,8) HSSL2 Cable VX1135 Base Module MC Tool CANape 2 x 1Gbit (was: 1 x 1) New Requirement: Next Gen ESP-ECU: i.e 4 x 6,25 GBit/s Radar-ECU: Raw Data + XCP Fusion-ECU: PCIe + IFX Aurora on one POD 17
18 ADAS solution High speed ECU (RAM) measurement Radar ECU: Infineon Aurix Setup: XCP-Data + Radar-Raw Data Radar ECU 2D FFT, Classification, Detections, Tracks CPU0 CPU1 2,5 GBit AURORA VX1438 POD 2 x 2,5 GBit HSSL Cable VX1135 Base Module 1 or 2 x 1 GBit Eth. MC Tool CANape CPU2 4 x 400 MBit Raw Data Radar Raw Data Port xxxx: Raw Data Port yyyy: XCP Data ( incl. Dynamic Address ) 18
19 ADAS solution High speed ECU (RAM) measurement Combined PCIe + IFX Aurora POD approach for Fusion-Controllers VX1135C / VX1135D 1 x 2,5 Gbit/s Aurora VX1461 POD 5 GB/s HSSL2 Cable MC Tool CANape 5 Gbit PCIe 1 x FR A+B 5 x CAN-FD 2 x 1 Gbit/s - XCPonEth - XCPonCAN - XCPonFR 19
20 ADAS solution ECU Data recording and Road validation Outlook CANape and Option DA (ADAS topics) Support for SOA and AS Adaptive ETH / SomeIP MC on 64bit controllers Inherit ADAS sensor devices & views from vadasdev 20
21 ADAS solution - Efficient development of multisensor applications Overview ADAS Development Tool Chain Integrated ADAS development tool chain CANape / vsignalyzer Offline Data Analysis C/C++/ Dynamic models Image Processing Other vadasdeveloper (Fusion) Algorithm prototyping CANape + Option DA ADAS ECU validation CANape for High Performance Recording Offline algorithm evaluation vadasdeveloper run ADAS algorithm validation Data Fusion Library Create Code Generator Code Rapid controller prototyping Models User Code VX1000 ECU Calibration Hardware PC based sensor fusion prototype C/C++ Code Embedded BSW & project work: DCU Architecture, Safety/ISO26262, Function optimization, ECU Reprogramming / Flashing 21
22 For more information about Vector and our products please visit Authors: Alexander Aydt Vector Germany Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V
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