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DNA for Automated Driving

Jeremy DahanMay 8th, 2017

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

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Radar

Camera

LIDAR

Sonar

SteeringWheel Sensors

WheelSpeeds

IMU /Gyro

GlobalPosition

Maps

Motor SpeedControl

Brake Pressure

SteeringAngle Control

RegenerativeBraking

Static obstacles

Lanes

Moving objects

Vehicleego motion

Signs

Trajectoryplanning &

control

Fail-safe /-degraded

mechanisms

Head Unit

Side Tasks

Functionalsafety

Redundancies

Items to specify: 24

0

5

10

15

20

25

30

2002 2004 2007 2010 2013 2015

Items to specify

1999: Mercedes S-ClassDistronic

2002: VW PhaetonACC

2005: Mercedes S-ClassDistronic plus

2010: Audi A8GPS-guided ACC

2006: Audi Q7ACC plus / AEB

2013: Mercedes S-ClassDist.+ / Steering Assistant

2015: Audi Q7Traffic Jam Assistant

+ brakes + sensor fusion + GPS maps + steering + automatic steering

© Elektrobit (EB) 2017 | Confidential

Sensor Data Fusion

DNA for Automated Driving

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Radar

Camera

LIDAR

Sonar

SteeringWheel Sensors

WheelSpeeds

IMU/Gyro

GlobalPosition

Maps

Static obstacles

Lanes

Moving objects

Vehicleego motion

Signs

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

Automated Driving

Automated Emergency Brake

Automated Valet Parking

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

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© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

Software Framework for ADAS and Automated Driving

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Interfaces for• Interoceptive sensors – wheel ticks,

steering angle, accelerometers / gyros• „Smart“ environment sensors – point

clouds, object lists• ADASISv2/3 for map, SENSORIS for cloud

Integrated safety concept• System health monitoring and diagnosis• Safe-state triggering• Options for redundant environment

model and functions (e.g. minimal risk

Interfaces for • Kinematic vehicle components• Instrument cluster• Infotainment display

www.open-robinos.com

Trajectory Control

Longitudinal Control

Lateral Control

Positioning

Object Fusion

Grid Fusion

Behavior

Road & Lane Fusion

Vehicle DatabaseFu

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Sp

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ws

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ctu

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rsMotionManagement

Safety Management

Behavior

Behavior

Situative Behavior ArbitrationSensorData Fusion

HMI Management

SituationAnalysis

SituationAnalysis

SituationAnalysis

PathPlanning

PathPlanning

PathPlanning

© Elektrobit (EB) 2017 | Confidential 6

Every software component has• scalable, documented and standardized interfaces to other components• exchangeable interfaces to the base system / OS• a pre-industrialized algorithm core

DNA for Automated Driving

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

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Map onto concrete ECU architecture

Upgrade across models / Upgrade over time

NCAP

HAD

Ensure differentiation, shorten time to market

EB modules 3rd-party modulesYour modules

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

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Trajectory Control

Longitudinal Control

Lateral Control

Positioning

Object Fusion

Grid Fusion

Road & Lane Fusion

Vehicle Database

Fun

ctio

n S

pe

cifi

c V

iew

s

Ve

hic

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bst

ract

ion

-Se

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Ve

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ctu

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rsMotionManagement

Safety Management

Behavior

Behavior

Situative Behavior ArbitrationSensorData Fusion

HMI Management

SituationAnalysis

SituationAnalysis

PathPlanning

PathPlanning

Automated ValetParking

Application example: Automated Valet Parking

© Elektrobit (EB) 2017 | Confidential 9

DNA for Automated Driving

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© Elektrobit (EB) 2017 | Confidential

Short/Mid-term Path Planning

Grid Freespace Extraction

Highway Driving

Positioning

Software framework in action

DNA for Automated Driving

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© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

Range of ego sensors are limited

•

•

Recognition algorithms are limited

Not all information needed can be derived from sensor observations

•

•

•

•

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What about maps?

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DNA for Automated Driving

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Sensor-based Learning for Predictive Driving

• Secure connection

and transfer

Collect sensor data

1

• Data aggregation• Map matching• Sensor fusion

Sensorlearning

2

• Enriched map

updates on

daily basis

IncrementalNDS Compilation

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• Delta maps

Incremental MapUpdate Service

4

Consumerexperience

• Always up to date

electronic horizon for ADAS functions

5

2 3 4

51

© Elektrobit (EB) 2017 | Confidential 13

How sensor data is collected and sent

• Objects form camera recognition modules

• Create 2.5D maps of the road

• Algorithms for feature extraction:

image processing

machine learning

• Objects that can be extracted:

lane markings

lane Geometry

road boundaries

lane arrows

traffic signs

Image processing

DNA for Automated Driving

2 3 4

51

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How sensor data is collected and sent

DNA for Automated Driving

Top View

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Height Map

2 3 4

51

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Example: Zebra crossing recognition on 2.5D maps

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DNA for Automated Driving

2 3 4

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DNA for Automated Driving

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How to learn from sensor data and enrich maps

• Data cleanup

Incoming data is validated regarding location and timestamp

Wrong movement profiles (e.g. ferries or trains) are discarded

• Data aggregation

Collected data is aggregated into clusters to ensure reliability

Clusters are matched on a recent map

User data is anonymized to ensure privacy

Data processing

2 3 4

51

© Elektrobit (EB) 2017 | Confidential

Example: Zebra crossing in the Cloud

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DNA for Automated Driving

2 3 4

51

© Elektrobit (EB) 2017 | Confidential 18

Maps boost ADAS and Automated Driving

DNA for Automated Driving

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving and NVIDIA

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EB robinos

EB Assist ADTF EB tresos

DNA for automated driving

Rapid prototyping

C, C++, Model based

Rapid embedding

C, C++

Automotive gradesoftware

ECUEvaluation hardware

PC

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

Open robinos

• specifies a reference platform forautomated driving up to Level 5 (SAE)• architecture• interfaces• data flow• control mechanisms• software modules• functional safety aspects

• freely available and licensed asCreative Commons

• Available for download

EB robinos

• implements the open robinosspecification

• provides software modules• for prototyping

in EB Assist ADTF• for rapid embedding

on AUTOSAR / DRIVE PX• for production

on vehicle ECU

• developed, tested, verifiedaccording to functional safetystandards

www.try-eb-robinos.com

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Download the open robinos specification

www.open-robinos.com

© Elektrobit (EB) 2017 | Confidential

DNA for Automated Driving

ConclusionSoftware frameworks and functional

architectures help solve it.

We should talk about software, not hardware architectures.

Q4/2016 – More EB robinos componentsThe problem is not difficulty but complexity.

EB robinos is a software framework for automated driving, applicable across car lines and models – it is DNA for automated driving

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Get in touch! Thank you!

www.eb-robinos.com

www.try-eb-robinos.com

Jeremy.Dahan@elektrobit.com

Positioning (robinos, ground truth)

Automated Valet Parking

Automated Highway Driving

Electronic Horizon