Upload
others
View
7
Download
0
Embed Size (px)
Citation preview
AVL List GmbH (Headquarters)
Public
ADAS & Autonomous DrivingChallenges and AVL Solutions for Development and Testing
Federico FerreroValerio CastelliDr. Bernhard Behr
October 2019
| | 02 Oktober 2019 | 2Public
▪ Accident free driving
▪ Driver relief and comfort functions
▪ Connectivity services
▪ Improved fuel/energy efficiency
▪ Reduced operating cost / new mobility concepts
Market Drivers & Challenges
Challenges
➢ Robust perception, right decision making and failure free actingrequire new, different to conventional development approaches & huge testing efforts
| | 02 Oktober 2019 | 3Public
Areas of ADAS/AD Engineering Services
For new levels of vehicle comfort, safety & efficiency
Key Facts AVL List GmbH: 1.75 bn€ TO 2018, 10.400 employees, 45 Affiliates world wide, Founded 1948, Chairman & CEO: Prof. Dr. h.c. Helmut List Provider of Engineering Services, Instrumentation & Test Systems including Simulation Technologies
System Design
use & test cases, hazard & risk analysis, architecture, sensors,
system safety, benchmark,
target setting
Tailored Controls & SWDevelopment
AD features development from
feasibility, concept to series,
market specific modifications
Calibration Testing
Validationderivative integration,
performance optimization,
testing & validation from lab to proving ground and road
| | 02 Oktober 2019 | 4Public
#
w
#
SOP Application References L2+European Premium OEMs
AVL is a trusted partner in ADAS SOP projects and has long term relationships with OEMs as engineer service provider
Development of longitudinal calibration and validation of various function packages in
all Audi powertrains
Source: Audi.de
ACC , APA, PEA, Speed Limiter
Contribution to development of a number of L0-L2 ADAS features for Jaguar Land Rover’s recent +
current models including next generation features
AVL has agreement from the customers to mention this projects for marketing purpose
LDW, LKA, ISL, BSA, DDM, NextGen
AVL is automotive industry partner for the development and
evaluation of objective ADAS criteria based on
AVL-DRIVETM ADAS
| | 02 Oktober 2019 | 5Public
SOP Reference System DesignEuropean HD Truck OEM
Requirements and SafetyEuropean Truck OEM: • Lane Centering: ~60 use & 90 test cases• Traffic Jam Assist: ~80 use & 120 test cases
Work Content• Use Case Development • Hazard and Risk Assessment (HARA)
based on ISO 26262• Validation Procedure and Worst Case Definition • Validation Test SOP 2019
AVL has best flexibility to design & specify ADAS according OEM preferences due to multiple supplier openness on system architectures & components
| | 02 Oktober 2019 | 6Public
System Design TopicsSystem & requirements engineering, use-& test cases
ADAS/AD system design
▪ E/E & Ctrl. architectures
▪ Use cases / test cases
▪ Hazard & Risk Analysis
▪ Worst Case scenario
▪ Target Setting
Perception
▪ Sensor input
▪ Sensor fusion
▪ Perception
▪ Occupancy grid
Trajectory & decision making
▪ Maneuver planning
▪ Trajectory calculation
▪ Embedded quality evaluation
Control & actuation
▪ Vehicle dynamics models
▪ Long./Lat. vehicle motion controls
▪ Actuators interface
Functional safety
▪ ISO 26262 functional & operational safety requirements
▪ SOTIF – safety of the intendedfunctionality
Connectivity
▪ V2X communication
▪ Back end systems
▪ Data security
Design Validation Plan
▪ Testing and validation strategies for lab & road
▪ Active safety, function & performance KPI
AVL has best flexibility to design & specify ADAS according OEM preferences due to multiple supplier openness on system architectures & components
CONTROLLER
| | 02 Oktober 2019 | 7Public
AVL SW & Functions Development
Customer Value: Development according “White Box” approach provide maximum in-house flexibility and market differentiation potential
AVL in-house generic ADAS controls
3 Types of Projects
▪ Feasibility demonstrations unmanned driving (L4) productivity oriented
▪ Tailored features (L3) as differentiation for an OEM
▪ SW modifications (L0-L2) because of country specifics
Long. Control
Lat. Control
DecisionMaking
ACC/LKA/LCA
ManeuverPlanning
Up to Level 2+
DecisionMaking
VehicleStatus
TrajectoryPlanning
Emergency Status
Level 3,4
Planning and Decision
Perception
Localization
Sensor Fusion
OccupancyGrid
Environment Model
Motion ControlEnvironment Perception
accelerater & braking
Map
cameras
SR/LRradar
Lidar
Ultra-sonic
IMU
V2X
Steering
HMI
| | 02 Oktober 2019 | 8Public
CONNECTED
Predictive Function Examplessmart & intelligent energy management
TRAFFIC LIGHTASSISTENT
PREDICTIVE THERMALMANAGEMENT
PREDICTIVE ADAPTIVE CRUISE CONTROL
ECOROUTING
COASTING ASSISTENTPREDICTIVE SHIFTING
AVL fully supports development and demonstration of new features improving energy efficiency, CO2 & driving attributes
PREDICTIVE HEV ENERGYMANAGMENT
FILTER REGENERATION
PREDICTIVE ADAPTIVE CRUISE CONTROL
Fuel Efficiency @High Level AD: Platooning
System Design
Tailored Controls & SWDevelopment
Calibration Testing
Validation
| | 02 Oktober 2019 | 9Public
ADAS Testing Capabilitiesat AVL HQ
Comprehensive test environment for basic and advanced ADAS + AD features in lab, on XiL and road
Autonomous Driving & Vehicle Development CenterLocation: Graz, Austria
Test Region Styria 500km public roads
Test tracksmultiple proving grounds
RW Fleet testing online OTA assessment
Driver in the loop safe & reproducible lab
Vehicle in the loop AVL DrivingCube
Virtual Environment extensive simulation & cloud
Partner of
AVL offer: Test Execution
| | 02 Oktober 2019 | 10Public
ADAS Performance Calibration & OptimizationSpecial Focus: Human Centric Solutions
AVL USP: Objective measurement technology for perceived safety & comfort feeling Customer Benefit: Market success via end consumers agreement on performance
How want drivers to be driven by automated features?
Scale Safety & Comfort
9-10 very convenient
8-9 convenient
7-8 acceptable
6-7 almost acceptable
5-6 disturbing
4-5 very disturbing
3-4 almost unacceptable
2-3 unacceptable
1-2 fail
AVL-DRIVE ADAS
23different
maneuvers applicable on
L1 to L3 comfort features
| | 02 Oktober 2019 | 11Public
Target Setting Function Performancebased on objective ‘AVL-DRIVE Autonomous’ assessment technology
Scale Safety & Comfort
9-10 very convenient
8-9 convenient
7-8 acceptable
6-7 almost acceptable
5-6 disturbing
4-5 very disturbing
3-4 almost unacceptable
2-3 unacceptable
1-2 fail
1. AVL USP: In-house developed technology for objective assessment of
perceived safety & comfort → criteria catalogue (>30)
2. AVL Benchmark Programcompetitor comparison
→ detailed target diagrams for calibration
3
4
5
6
7
8
9
10
2012 2013 2014 2015 2016 2017 2018 2019
TO
TA
L R
AT
IN
G
ADAS PERFORMANCE
AVL Benchmark Database 2012-2018
base for targets setting
• ACC▪ LKA
| | 02 Oktober 2019 | 13Public
ADAS/AD Real World TestingAVL Fleet Monitoring Technology
Automated logging and evaluation
of geotagged fleet data
AVLApproach
ServiceOffering
Execution of real world testing includingcomprehensive fleet test analysis
WhyImmense amount of testing &estimation of scenario coverage Demand: time saving approaches & scenariocollection with assessment
Com ModulCom ModulCom Modul
Com Modul
Com Modul
AVL-DRIVE
Queue
- Ring FiFo- Setup
MQTT Client
Kafka Client
… Client
Manipulator
- Filter- Encryption- Manipulation
Output Client
- Settings- Monitoring
ZMQ Client
x Client
Input Client
- Settings- Monitoring
- File- DB- MQTT Client- Kafka Client
- ZMQ Client- UI- …
Live UI
- Live- Replay- …
Fleet DB
Fleet HW concept
| | 02 Oktober 2019 | 14Public
Highlights ADAS/AD Real World Testing
Geo-tagged view of areas with POI markers
Statistics: fleet utilization, road types, mileage, events distribution…
Country specific identification of significant places
Maneuver Distribution Statistics
Road segment coverages
HighwaysLocal roadsMain roadsMinor roadsMotorwaysPedestrian roadsRegional roadsWalkways
TunnelsBridges
Rating below thresholds (target fulfillment)Identification of geo-areas of interest (POI)
Over the air transmission of result parameters
Test routes optimization
Automated logging and evaluation
of fleet data
| | 02 Oktober 2019 | 15Public
Comprehensive Proving Ground Testing
Comprehensive test environment for real world & proving ground testingenables complete testing + validation packages
AVL function & performance testing on proving ground in smart city area (HU)
| | 02 Oktober 2019 | 16Public
Safe & Reproducible Lab Testing with Driver Simulator on Hexapod
ADAS Testing and Validation on Driver Simulator
Location: Graz
Examples of parameter variations• speed of ego vehicle• speed of motor biker• distance to side lane / mid lane• payload of vehicle • …
| | 02 Oktober 2019 | 17Public
How are Automated Driving Functions Tested TODAY
OEMs mainly rely on office simulation for development and in-vehicle testing for validation
| | 02 Oktober 2019 | 18Public
A Seamless and Open Tool Chain with New Approaches is Necessary
Simulation
Same Results
Virtual TESTING Proving Ground Real World
Scenario, Maneuver, Test Case Abstraction incl. KPIs
Environment Abstraction
Vehicle Abstraction
The most efficient validation will be done by those who will use the best combination…
Required Elements:
| | 02 Oktober 2019 | 19Public
Proving Ground and Real World
Finalize and Confirm
Virtual TESTING:
Integrate, Analyze and Improve
Simulation:
Scale Testing of Variants (Vehicle Configurations and Scenarios)
Insights: Approach for The Best Combination…
reproduce
analyze
Optimize/Improve
+ specific test cases which cannot be done in simulation
+ specific test cases which cannot be done in simulation and/or virtual testing
Simulation Virtual Testing Proving Ground
Real World
| | 02 Oktober 2019 | 20Public
Scenarios – Core of ADAS Development & Validation
Most scenario cases are uninteresting…
… and some can become very interesting
Examples:
| | 02 Oktober 2019 | 21Public
Scenarios
Models
KPIs
Test Sequence Generator
Test Case Preparation
Scenario Preparation
Scenarios to test requirements
(DVPs)
Synthetic random scenarios
Scenarios from road data
Specific
(Sensor) Model
Model Preparation
(Sensor) Model
Editor
(Sensor) Model
Parametrization
Generic
(Sensor) Model
Test Systems
• Sensor testbeds• Powertrain
testbeds• Vehicle
dynamics testbeds
Integration of
reference simulation
environment
Test Execution
MIL/SIL
Model.CONNECT™
VIL (Driv.CubeTM)
Signals, Object lists, Streams (Video, 3D, ..)
Public Road
Testing using
reference DAQ
Cloud MIL/SILHIL Platform (Driving
Simulator)Private Test-Track
Model.CONNECT™
Testbed.CONNECT™
KPI Preparation
Data
Management
Online / Offline Evaluation &
Postprocessing
Data Management
Scenarios
AVL Scenario-Based ADAS/AD V&V Tool Chain
| | 02 Oktober 2019 | 22Public
Dynamic Ground Truth roof box:
Where we are working on …Dynamic Ground Truth System
Lidar reflections from road objects (e.g. vehicles
Extracted (Tagged)Scenarios fromRoad drives:
| | 02 Oktober 2019 | 23Public
ScenarioDatabase
Test the relevant / critical scenarios!
AVL Test Case Generator
Query scenario information
Scenario Preparation
Scenarios to test requirements
(DVPs)
Synthetic random scenarios
Scenarios from road data
Scenario generation
Where we are working on …Test Case Generation Methods
Test s
equence
| | 02 Oktober 2019 | 24Public
Where we are working on …Target: Extract the Relevant Cases
288.000.000 km to test>99% nothing happens
Identify relevant cases and transfer to testbed
Cut-In → Cut-Out
| | 02 Oktober 2019 | 25Public
Where we are working on …Vehicle in the Loop Testing
Steering Module:
Radar Stimulator:
| | 02 Oktober 2019 | 26Public
Where we are working on …Euro-NCAP Evaluation Package
Euro-NCAP Data Processing Package:
| | 02 Oktober 2019 | 27Public
Where we are working on …ADAS Parameter Mgt with CRETA
Project Coordinator
Software Team
Datasets
Simulation in LAB
Neural Network optimisation
Parameterisation in the car
Make sure that the correct parameters end up in the correct vehicle and
controller!
| | 02 Oktober 2019 | 28Public
Some Partnerships
Further joint activities:
AVL-TNO Cooperation: Integration of TNO scenario database for Test Planning and MIL/SIL Validation:
…
AVL-NORCOM Cooperation: Integration of NorCom BigData Platform into AVL Big Data Analytics solution:
AVL Stähle Cooperation:Development of a steering actuator for ADAS testing on Chassis dyno testbeds:
AVL-TÜV-NVIDIA Cooperation: Virtual homologation of piloted highway driving using NVIDIA DRIVE SIM and NVIDIA DRIVE PX:
| | 02 Oktober 2019 | 29Public
Calibration, Testing& Validation• Features integration e.g. derivatives • Full capability testing & validation
real world, proving ground and virtual• Calibration of ADAS features with
perceived safety & comfort optimization
Control & SW Development • Proof-of-concept new features• Customer specific ADAS & AD features development from concept to series
• Predictive & connected energy management features improving fuel consumption
System Design • Use & test cases definitions • HARA – hazard & risk assessment
with functional safety concept• Controller architecture, sensor layout• Benchmarking & targets setting
USP, Strengths• Proven series production experience
and references• In-house SW & controls development • ADAS performance technology for
human perception optimization
Summary ADAS/AD Engineering Offerings
Engineering solutions for series (L0-L3) & adv. development (L3+), applicable at PC & CV
PC: passenger cars / CV: commercial vehicles