Prototyping the Autonomous Future Joe Cassar, Engineering Group Manager. dspace Inc Pontiac Trail, Wixom, MI 48393

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2 Prototyping the Autonomous Future Joe Cassar, Engineering Group Manager dspace Inc Pontiac Trail, Wixom, MI

3 What s the Common Denominator? Ford AUDI RS7 Concept Nissan Porsche ZF 3

4 MicroAutobox (DS1513) High Count Analog-I/O and CAN-Interfaces (6) 24 Dig in, 24 Dig out: Deterministic, high-speed/low-latency Bit In/Out, Interrupt, PWM, frequency-, pulse width- measurement, encoder 32 Analog in: 16x 16 bit, 1MS/s, burst mode, 4 trigger inputs (about 6 times faster) 16x 16 bit, 200 KSPS Input Range: +/- 10V 8 Analog out: 16 bit, +/- 8mA output current 6 CAN, 3 LIN: High performance, support of CAN Partial Networking 4

5 MicroAutobox Extended DS1514 FPGA-Board Layer High degree on flexibility and extendibility through FPGA technology Large Xilinx Kintex-7 (XC7K325T-1) FPGA Flexible I/O-extension with Piggyback modules Programmable through VHDL or graphically from Simulink Two IP slots for the use with DS4340 FlexRay modules or DS4342 CAN FD modules; up to four CAN-FD channels Concurrent use of FPGA I/O module and IP/FlexRay/CAN FD modules FPGA second ZIF connector FPGA I/O Module IP/FlexRay/CAN FD Module IP Module Connector FPGA I/O Modul Connector 5

6 FPGA Piggy-Back for Electric Motor Control (DS1553) I/O Module for AC-Motor Control applications Processing of multiple rotary encoders: Hall sensors (up to 2 interfaces) Incremental encoders (up to 2 interfaces) Resolver (1 interface) SSI and EnDat encoders (2 interfaces) Basic support for BiSS interface Digital I/O: 8x digital input channels for sensor inputs Up to 24 PWM output signals for block, sine or user-specific commutation Analog I/O 8x ADCs (14Bit, 10MSPS) with internal filters and synchronization to specified events 2x DACs (12Bit, 5V/µs slew rate) 6

7 Scalable In-Vehicle Rapid Controls Prototyping (DS1007) You benefits: IBM PC 2 GHz dual core processor and multiprocessor support Native GB Ethernet for application (UDP/IP, TCP/IP) Small I/O latencies Various I/O and bus interface boards CAN-FD, Additional Ethernet, SPI, FPGA, FlexRay 7

8 RapidPro Hardware Signal Conditioning and Power Stages Compact and flexible signal conditioning, power stages, and intelligent I/O subsystem for dspace prototyping systems Scalable and modular system architecture Variety of off-the-shelf signal conditioning and power stage modules available Hardware and software configurable modules For in-vehicle and laboratory use Ruggedized design (shock and vibration tested) Operating temperature: C Power supply: V DC (battery) 8

9 High Current Valve and e-motor Actuation High current full-bridge Valves, Injectors, motors High current half-bridge 9

10 Function Bypassing synchronous operation with real ECU You benefits: Prototype (bypass) selected ECU functions and capture ECU internal data via high-speed ECU interface External bypass approach: New algorithms New sensor f perc f appl XCP or debug interface Low latency High data throughput Data consistency Synchronization ADAS ECU Existing algorithms 10

11 ECU Access from Real-Time RCP and HIL Platform HIGH (> 5000 ms) CCP XCP on CAN Bypass turnaround time for capturing 32 variables (4 bytes each) and writing them back to the ECU Body MEDIUM (~ 500 ms) XCP on FlexRay NEW XCP on CAN FD LOW (< 100 ms) Chassis, driver assistance XCP on Ethernet (UDP/IP) On-chip debug interface (DCI-GSI1) Powertrain DCI-GSI2 DPMEM POD Application 11

12 ECU Interface Manager Bypassing Hooks Without Source Code On-demand bypass integration without modification of ECU source code Info.XML Drag & Drop Requires only minor information from ECU supplier (e.g. free memory sections) Graphical, intuitive user interface (Function tree-view) Function or variable oriented workflow For external bypassing and on-target prototyping for RCP and HIL 12

13 Functional Safety Mechanisms for Rapid Prototyping Systems Trade-off between high flexiblity/-performance & functional safety Goal: reach a higher degree of safety even in early phases of the development, without limitations on performance and flexibility Series Production ECU Rapid Prototyping Systems Performance Flexibility Software comfort Functional safety coverage Solution: adopt well known mechanism from series production into prototyping systems 13 dspace - Confidential

14 Functional safety mechanisms on MicroAutoBox II Watchdog Periodically checks if tasks/subsystems are executed Challenge-Response Monitor Periodical trigger of user-defined checks e.g. Check for wrong execution order and correct code behavior Up to 14 instances with up to 16 challenge/response values Integration of any verification routines into Simulink including c-code and s-functions Dedicated and configurable failure reaction (reboot and/or machine check interrupt) Implemented on system FPGA (active even if real-time processor stops working) Implicit reverse monitoring Memory integrity checks, supply voltage monitoring Challenge-Response Mechanism Hardware Design 14

15 NEW Monitoring of Correct Calculation Release 2016-B RTI Watchdog Blockset Challenge-Response Monitoring Detect wrong calculations, monitor the execution order or further monitoring mechanisms Challenge-response monitor is executed on a seperate hardware component (system FPGA) MicroAutoBox II Processor Board Executes real-time application Executes challengeresponse monitor Real-Time Processor CPU calculation send challenge 35 Failure Reaction (Interrupt, Reboot, Shutdown) System FPGA Challenge-Response Monitor Challenge Response send response 15 dspace - Confidential

16 What does a typical ADAS Prototyping-Setup look like? Perception & Fusion Map Application Sense Localize Plan & decide Control & actuate Process & fuse C/C++, Python, OpenCL, CUDA, Model-based controller design Ethernet PC with GPU MicroAutoBox, AutoBox 16

17 MicroAutoBox Embedded PC with 6 th Generation Intel Core i7 PREVIEW Release planned for Q1/2018 Integrated Power Supply For standalone operation 4 x USB 3.0 For sensor connection like cameras Display Port For the connection of up to two high resolution displays 3 x Ethernet Ports For the connection of other Devices (e.g. PCs) or sensors like cameras 6 th Generation Intel Core i7 4 Cores, 16 GB RAM 128 GB M2 flash memory Gigabit Ethernet, USB 3.0 NEW 17 dspace - Confidential

18 MicroAutoBox Embedded PC with 6 th Generation Intel Core i7 PREVIEW Release planned for Q1/ x SATA 3.0 For the connection of MicroAutoBox Embedded DSU 3 x mpcie Interfaces For dspace qualified extensions (e.g. CAN/ CAN FD, BroadR-Reach, WLAN ) 6 th Generation Intel Core i7 4 Cores, 16 GB RAM 128 GB M2 flash memory Gigabit Ethernet, USB 3.0 NEW 18 dspace - Confidential

19 What does a typical ADAS Prototyping-Setup look like? Perception & Fusion Map Application Sense Localize Plan & decide Control & actuate Process & fuse C/C++, Python, OpenCL, CUDA dspace MicroAutoBox with Embedded PC Shock and vibration proof in-vehicle system Synchronous on/off via ignition key Easy wiring 19 dspace - Confidential

20 MicroAutoBox Embedded PC with 6 th Generation Intel Core i7 PREVIEW Release planned for Q1/2018 MicroAutoBox Embedded PC (6 th generation Intel Core i7 with 4 cores) Up to three Mini PCIe plug-in modules can be integrated: Available modules: WLAN CAN/CANFD (2 channels per module) BroadR-Reach (2 channels per module) Optional: Integrated network interfaces for WLAN, CAN/CANFD and BroadR-Reach SATA III data storage interface Sensor interfaces Camera sensors via Ethernet or USB 3.0 Radar sensors via CANFD or Ethernet Lidar sensors via Ethernet Note: The new MicroAutoBox Embedded PC is under development and subject to change without notice. 20

21 Solutions Scaled for ADAS Perception & Fusion Application C/C++, Python, OpenCL, RTMaps CAN, CAN FD, LIN, Ethernet, DDS Interface to various camera, radar, lidar, GNSS, sensors Libraries for sensor data processing Data recording and replay dspace blocksets for Simulink CAN, CAN FD, LIN, FlexRay, Ethernet, XCP Electronic horizon (ADASRP/Here, ADASIS v2) V2X (DSRC), GNSS RTMaps interface, ADTF interface, 21 DSRC: Dedicated Short Range Communication (IEEE p WLAN adhoc network) OpenCL: Open Computing Language

22 dspace V2X solution for DSRC 1) dspace V2X blockset for Simulink Map instrument in ControlDesk GNSS IEEE p Vehicle bus (CAN, ) 1) Dedicated Short Range Communication (IEEE p) Ethernet host interface Ethernet Source: Cohda Wireless V2X hardware adapter 22

23 Trends in ADAS Cloud Communication How to connect to the Cloud with a dspace RCP-System? How can I transmit real-time data directly to the cloud? How can I connect to my dspace system via LTE or WLAN? Adaptive AUTOSAR How to execute Adaptive AUTOSAR Applications on a dspace RCP-System? Automotive Ethernet How to integrate a dspace RCP-System in a automotive Ethernet network? Do dspace offer interfaces for BroadR-Reach? How to implement SOME-IP? SOME IP 23 dspace - Confidential

24 MicroAutoBox Connectivity & Cloud Communication Basic Concept: Using MicroAutoBox EmbeddedPC for cloud communication Realtime-Application Simulink RTI Ethernet UDP Blockset LTE GigE Mobile Connectivity Windows-/Linux-Operating System Mobile network connection via LTE & data buffering Connection to cloud-services, e.g. Microsoft Azure 24 dspace - Confidential

25 MicroAutoBox Adaptive AUTOSAR Basic Concept: Using MicroAutoBox EmbeddedPC for adaptive Autosar applications Classic Realtime-Application Simulink RTI Ethernet UDP Blockset, RTI Autosar Blockset LTE GigE Adaptive Autosar Application Adaptive POSIX based Operating System, e.g. Linux Complete Adaptive Application compiled for epc 25 dspace - Confidential

26 Automotive Ethernet Embedded PC Bundle PREVIEW Release planned for Q1/2018 Basic Concept: Using MicroAutoBox EmbeddedPC as automotive Ethernet slave system (time synchronous coupling) * GigE Hardware: Up to 3x Automotive Ethernet mpcie cards with: 2x Ethernet Channels and BroadR-Reach physical layer * fig. similar OABR * 26 dspace - Confidential

27 MicroAutoBox Embedded DSU (Data Storage Unit) PREVIEW Release planned for Q1/2018 Embedded DSU Compatible with MicroAutoBox Embedded SPU and new Embedded PC Four integrated SSDs SSDs not interchangeable by end user Default storage size: 8 TB four SSDs with 2 TB each Integrated Power Supply 4 x SATA 3.0 for data logging Note: The MicroAutoBox Embedded DSU is under development and subject to change without notice. Optional storage sizes on request: 16/32/64 TB (extended lead time) Default file format: NTFS (MS Windows) For Linux reformatting to ext4 is recommended 27

28 MicroAutoBox Embedded DSU daisy chain to increase bandwidth PREVIEW Release planned for Q1/ Overall data logging throughout 8 GBit/s 2. All data is synchronized due to RTMaps and synced clocks 0,5 m SATA ( 4 GBit/s data throughput) Embedded DSUs Camera Lidar Radar Gbit Ethernet Clock-synchronization via IEEE AS (accuracy < 1 µs) Embedded PCs with MS Windows or Linux and RTMaps Developer or Runtime Version 28

29 MicroAutoBox II with Embedded SPU extension PREVIEW The Embedded SPU is under development. MicroAutoBox II Real-time processing and functional safety mechanisms Watchdog, challenge response monitor, memory integrity checks, supply voltage monitoring Embedded SPU 1) High-performance sensor data processing C/C++, Python, OpenCL, CUDA 1) The MicroAutoBox Embedded SPU (Sensor Processing Unit) is still under development and related information is subject to change without notice. 29

30 AutoBox with Embedded SPU extension PREVIEW The Embedded SPU is under development. AutoBox High performance real-time processing Scalable processing power and I/O Gigabit Ethernet Embedded SPU 1) High-performance sensor data processing C/C++, Python, OpenCL, CUDA 1) The MicroAutoBox Embedded SPU (Sensor Processing Unit) is still under development and related information is subject to change without notice. 30

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