High Speed Measurement For ADAS And Fast Analysis

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1 High Speed Measurement For ADAS And Fast Analysis How to read that much data Measurement and Calibration User Day November 13 th 2018 V

2 ADAS Logging ADAS Logging Hardware and Software ADAS Logging Hardware and Data Logistic Bus-Interfaces: CAN-FD, LIN, Flexray Auto.Eth. 100/1000BaseT1 (TAP-Mode) Sensor, ADAS Fusion ECU and Video Measurement Hardware 2

3 ADAS Logging ADAS Logging Hardware and Software ADAS Logging Hardware and Data Logistic Bus-Interfaces: CAN-FD, LIN, Flexray Auto.Eth. 100/1000BaseT1 (TAP-Mode) Sensor, ADAS Fusion ECU and Video Measurement Hardware 3

Sensor, ADAS Fusion ECU and Video Measurement Hardware Radar ECU: XCP and Radar Raw Data Radar ECU CPU0 2,5 Gbit AURORA FFT, Classification, Detection,

4 Sensor, ADAS Fusion ECU and Video Measurement Hardware Radar ECU: XCP and Radar Raw Data Radar ECU CPU0 2,5 Gbit AURORA FFT, Classification, Detection, Tracking >> Calcuation CPU1 CPU2 VX1438 POD HSSL2 Cable up to 8m VX1135 Base Module MC ToolCANape 2 x 1 GbitEth. 4 x 400 Mbit RIF Interface Radar Raw Data >> 4

Sensor, ADAS Fusion ECU and Video Measurement Hardware ADAS FUSION-ECU: combined PCIe + IFX Aurora POD approach 1 x 2,5 Gbit/s Aurora/DAP2 1 x 100 BaseT1 5 Gbit PCIe SGMI Eth.

5 Sensor, ADAS Fusion ECU and Video Measurement Hardware ADAS FUSION-ECU: combined PCIe + IFX Aurora POD approach 1 x 2,5 Gbit/s Aurora/DAP2 1 x 100 BaseT1 5 Gbit PCIe SGMI Eth.# VX1461 POD 5 GB/s HSSL2 Cable 1 x FR A+B MC Tool ECU Interfaces : µc: DAP2/ Aurora CANape 5 x CAN-FD DAS Concept for Dynamic Address µp PCIe 5 x CAN-FD / 1 x FR A/B 5 1 x 100BaseT1 Auto.Eth.

6 Sensor, ADAS Fusion ECU and Video Measurement Hardware Video Logging Setup: Raw Data + TAPI + Auto.Eth Vehicle-Camera with Debug-Out Camera- Imager MIPI-CSI2 Serializer De-Serializer FPDIII Link MobilEye EyeQ4 ADAS ECU Video Raw Data Grabber VX1135 CAN Channel TAPI Debug Output 10 GBit 6

7 Sensor, ADAS Fusion ECU and Video Measurement Hardware Video Grabber MDILink 4 Channel Serial Link Device Variant 1: 2 x Tap Mode Variant 2: 4 x Endpoint Modular concept for easy sensor adaption 10GbE Eth. PC uplink port 1GbE Eth. port for simple configuration 7

8 ADAS Logging ADAS Logging Hardware and Software ADAS Logging Hardware and Data Logistic Bus-Interfaces: CAN-FD, LIN, Flexray Auto.Eth. 100/1000BaseT1 (TAP-Mode) Sensor, ADAS Fusion ECU and Video Measurement Hardware 8

Bus-Interface: VN5640 VN5640 BroadR-Reach/Ethernet Network Interface 16 Ethernet channels 12 channels IEEE 100BASE-T1 (OPEN Alliance BroadR-Reach) 4 channels with IEEE 100BASE-TX/1000BASE-T physical

9 Bus-Interface: VN5640 VN5640 BroadR-Reach/Ethernet Network Interface 16 Ethernet channels 12 channels IEEE 100BASE-T1 (OPEN Alliance BroadR-Reach) 4 channels with IEEE 100BASE-TX/1000BASE-T physical layer (standard Ethernet) 2 channels CAN/CAN FD USB 3.0 Host connection to PC No need to modify OS network settings The operation is not influenced by the OS or firewall Integrated Analog and Digital I/O 1 x Analog input, 2 x Digital input, 1 x Digital output 2 x Digital in/out Layer2- switch Configurable Ethernet switch (stand-alone possible) 9

10 ADAS Logging ADAS Logging Hardware and Software ADAS Logging Hardware and Data Logistic Bus-Interfaces: CAN-FD, LIN, Flexray Auto.Eth. 100/1000BaseT1 (TAP-Mode) Sensor and ADAS Fusion ECU Measurement Hardware 10

+70 Size: 320 x 250 x 66 mm Storage Raid ( up to 32 TB) Interfaces: 2 x 1 / 10 GbE Connector RJ45 6 x 1

11 ADAS Logging Hardware and Hardware Logistic ADAS Logging System Powermanagement on Ignition On/Off Voltage Range: 6,5-50 V Temp-Range PC: -25 to max. +70 Size: 320 x 250 x 66 mm Storage Raid ( up to 32 TB) Interfaces: 2 x 1 / 10 GbE Connector RJ45 6 x 1 GbE Connector: RJ45 4 x USB x SATA 1 x Display Port 1 x GPS (Position and Time) Removeable Storage Bay Cable Protection 2 x PCIe Extension -16 x CAN-FD / 4 x Flexray 11

Adapter AN: 22453 Thunderbolt or USB-C HDD Storage

12 ADAS Logging Hardware and Hardware Logistic Data Transport via HDD Storage Take-Away Storage Bay Th2=>Th3 (USB-C) Adapter AN: Thunderbolt or USB-C HDD Storage Thunderbolt2 Thunderbolt Docking Station Thunderbolt or USB-C 12 Storage Server

13 ADAS Logging Hardware and Hardware Logistic Data Transport via Storage Bay High End Shockproof Logging on SSD 10 GBit/Eth USB Storage Server

14 ADAS Logging ADAS Logging Hardware and Software ADAS Logging, Visualizationand Analysis Software ADAS Logging Hardware and Data Logistic Bus-Interfaces: CAN-FD, LIN, Flexray Auto.Eth. 100/1000BaseT1 (TAP-Mode) Sensor and ADAS Fusion ECU Measurement Hardware 14

Scaleable ADAS Software Concept: Example: 1 GB/s //

Context CAM CANape XCP Recorder Visualisierung PC1

0 Vehicle Camara Time Sync Trigger Handling ESP-ECU

: 100 BaseT1 1000 Base T1 XCP + Raw Data Recorder 2

15 Scaleable ADAS Software Concept: Example: 1 GB/s // 32 TB 8h XCPonEth. Context CAM CANape XCP Recorder Visualisierung PC1 USB 3.0 Vehicle Camara Time Sync Trigger Handling ESP-ECU Video Recorder 1 Auto. Eth.: 100 BaseT Base T1 XCP + Raw Data Recorder 2 15 Front Radar Sensor- Fusion ECU 4 x Corner Radar 2 x 1Gbit/s Eth. XCP Recorder 3 XCP Recorder 4 XCP Recorder 7 Ethernet PC2 GPS UTC support gptp timesync Hardware Cluster

possible for displaying recorded data in CANape Computer CANape Master Configuration Visualisation TCP

16 DHPR = Distributed High Performance Recording Storage of measurement data is distributed over several processes -> usage of multicore architectures All created MDF files are time synchronous Backchannel possible for displaying recorded data in CANape Computer CANape Master Configuration Visualisation TCP (time sync, start, stop, trigger, ) ETH ETH ETH DHPR Client Raw Data Recording DHPR Client XCP DHPR Client Video 16

17 DHPR for MobilEye Camera Setup MobileEye DHPR IMAGE Time-Master: Time to Frame - Counter handling Video Grabber ETH 10 GB/s Frames TAPI Validator TAPI Parser ETH TAPI Frames Time-Slave 1 GB/s 17

18 Measurement: Lidar ( Ground Truth ) : Point-Cloud 3 D Scene View 18

Fixed Lens / Water tight 22471Axis Camera Fixed lens F1005, 3m 22436Axis Camera Varifocal lens F1015,12m Variable Lens

19 Context Cameras 4 x CAM 4:1 Video Encoder CANape H.264 Hardware Compression Mount Bracket Axis Quad-Cam Main Unit F44 Main Unit Axis Camera Fixed lens F1005, 12m Fixed Lens / Water tight 22471Axis Camera Fixed lens F1005, 3m 22436Axis Camera Varifocal lens F1015,12m Variable Lens 22472Axis Camera Varifocal lens F1015,3m Open Axis Camera Fisheye lens F1035, 12m Fisheye AXIS Cam Mount Bracket F AXIS T8351 Microphone Video On/Offline Sync Image Based Camera Calibration

camera must be calibrated to the viewing window of the sensor > For example the camera is looking towards the rear > The coordinate system must be rotated by 180

20 Image Based Camera Calibration Tool Why is camera calibration necessary? Sensor and camera are typically installed at different locations > The internal coordinate system must be shifted by setting offsets The image supplied by the camera must be calibrated to the viewing window of the sensor > For example the camera is looking towards the rear > The coordinate system must be rotated by 180 degrees To show 3D coordinates in a 2D picture a transformation from world coordinates to pixel is needed > Cameras with different objectives (e.g. fish eye, normal) > Wide angle cameras Correct the camera lens distortion calibration Undistorted Distorted 20

21 Image Based Camera Calibration Tool Camera calibration tool for regular and fisheye cameras Guided calibration for the current installation situation 7 steps to calibrate a camera for use in CANape 21

Image Based Camera Calibration Tool Improved camera

detection of bad images > Should be removed for getting

each snapshot shows the coverage of the complete camera

calibration pattern The screen should be covered

22 Image Based Camera Calibration Tool Improved camera calibration tool for regular and fisheye cameras Easy detection of bad images > Should be removed for getting a good calibration result The points that remains after each snapshot shows the coverage of the complete camera range The color of the points shows the distance to the calibration pattern The screen should be covered complete and with different distances Getting a better calibration result 22

23 Object Overlay and Bird s Eye View for ADAS Objects Graphical object overlay for detected ADAS objects like vehicles, lane markers, traffic signs for multiple sensors The objects are drawn in perspective onto the recorded video image Bird s eye view to see objects around the car or showing sensor fields areas 23

24 GFX Editor to Configure the Graphical Objects Toolbox with available GFX objects Display part for object overview and selection Properties window to change object properties Preview 24

25 Example for Ground Truth Labeling Panel in CANape Manual labeling while driving Done by a touch on a touch sensitive monitor Layout can be easily defined with CANape s Panel Designer 25

Video Scaleableand modular System 6 x PlugInModules ECU Access Video

26 Reference Setup & Outlook Size, power, cabling and cost reduction Reference Demo Setup: 2 GB/s 6 x Radar / 1 x Fusion ECU / 4 x HD Video Scaleableand modular System 6 x PlugInModules ECU Access Video BusInterfaces: CAN, FR, Eth. 10 Gbit/s PC access Total Size:35 x 25 x 15 cm 26

For more information about Vector and our

com Author: Koenig, Gernot Vector Germany

27 For more information about Vector and our products please visit Author: Koenig, Gernot Vector Germany Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V

High-End Datalogging System for Autonomus Driving V

High-End Datalogging System for Autonomus Driving V1.0 2018-11-14 ADAS Logging Logging Concept for ADAS Level 1-2 Setup: Camera & Radar Same Supplier Log 2 Data Types: 1 Raw Data: Video / Radar 2 ECU Internal