software framework for highly automated driving eb robinos · software framework for highly...

Software Framework for Highly Automated Driving – EB robinos

Jared Combs July 27, 2017

© Elektrobit (EB) 2016 | Confidential

Software Framework for Highly Automated Driving

2

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.

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

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


Sensor Data Fusion


3

Radar

Camera

LIDAR

Sonar

Steering Wheel Sensors

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 Emergency Brake

Automated Valet Parking



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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 Database Fu

nct

ion

Sp

eci

fic

Vie

ws

Ve

hic

le A

bst

ract

ion

- S

en

sors

Ve

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le A

bst

ract

ion

- A

ctu

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rs

Motion Management

Safety Management

Behavior

Behavior

Situative Behavior Arbitration Sensor Data Fusion

HMI Management

Situation Analysis

Situation Analysis

Situation Analysis

Path Planning

Path Planning

Path Planning

http://www.open-robinos.com/



© Elektrobit (EB) 2016 | 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




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Upgrade across models / Upgrade over time

NCAP

HAD

Map onto concrete ECU architecture

Ensure differentiation, shorten time to market

EB modules 3rd-party modules Your modules



8

Trajectory 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

le A

bst

ract

ion

- S

en

sors

Ve

hic

le A

bst

ract

ion

- A

ctu

ato

rs

Motion Management

Safety Management

Behavior

Behavior


HMI Management

Situation Analysis

Situation Analysis

Path Planning

Path Planning




Short/Mid-term Path Planning

Grid Freespace Extraction

Highway Driving

Positioning

Software framework in action




Range of ego sensors are limited

•

•

Recognition algorithms are limited

Not all information needed can be derived from sensor observations

•

•

•

•

11

What about maps?



12

Sensor-based Learning for Predictive Driving

• Secure connection

and transfer

Collect sensor data

1

• Data aggregation • Map matching • Sensor fusion

Sensor learning

2

• Enriched map

updates on

daily basis

Incremental NDS Compilation

3

• Delta maps

Incremental Map Update Service

4

Consumer experience

• Always up to date

electronic horizon for ADAS functions

5

2 3 4

5 1



Trajectory Control


Lateral Control

Positioning

Object Fusion

Grid Fusion

Behavior

Road and Lane Fusion

Vehicle Database

Fun

ctio

n S

pe

cifi

c V

iew

s

Ve

hic

le A

bst

ract

ion

- S

en

sors

Ve

hic

le A

bst

ract

ion

- A

ctu

ato

rs Motion

Management

Safety Management

Behavior

Behavior


HMI Management

Situation Analysis

Situation Analysis

Situation Analysis

Path Planning

Path Planning

Path Planning


Boosting ADAS and Automated Driving



DNA for Automated Driving and NVIDIA

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EB robinos

EB Assist ADTF EB tresos


Rapid prototyping

C, C++, Model based

Rapid embedding

C, C++

Automotive grade software

ECU Evaluation hardware

PC



EB robinos + NXP BlueBox Software for highly automated driving

+ automated driving development platform


EB robinos Processing Recorded Data

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Path Planning NXP BlueBox

Sensor: IBEO Lux Gen4 at 12.5Hz

Board: NXP BlueBox

Runtime Environment: EB robinos Linux Environment

Grid on NXP BlueBox



Open robinos

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

• freely available and licensed as

Creative Commons

• Available for download

EB robinos

• implements the open robinos specification

• provides software modules • for prototyping

in EB Assist ADTF • for rapid embedding

on AUTOSAR / DRIVE PX • for production

on vehicle ECU

• developed, tested, verified

according to functional safety standards

www.try-eb-robinos.com

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Download the open robinos specification

www.open-robinos.com

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






mailto:[email protected]





Conclusion Software frameworks and functional

architectures help to address complexity

We should talk about software, not hardware architectures.

Q4/2016 – More EB robinos components The 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!

[email protected]

www.try-eb-robinos.com

https://www.facebook.com/EBAutomotiveSoftware

https://twitter.com/EB_automotive

https://www.youtube.com/user/EBAutomotiveSoftware

https://www.linkedin.com/company/elektrobit-eb-automotive

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