From prototyping to series production code. · ECU Series-production-ready Embedded data fusion...
Transcript of From prototyping to series production code. · ECU Series-production-ready Embedded data fusion...
1
From prototyping to series production code.
About BASELABS
• Focus on sensor data fusion
• Series compliant softwareASPICE and ISO26262
• Founded in 2012
• Strategic partnership withVector Informatik GmbH
• Team of 50+
• Trusted by OEMs and suppliers worldwide
• Active contributors in research
Business model
Product• Standardized data fusion software library
• Direct integration in AUTOSAR
• Basis for development of customer IP and
proprietary software – designed for re-usability
• Resource- and cost-effective access to (non-
differentiating) commodity software parts
Engineering services• Custom development of data fusion
implementations for specific use cases
• A-D Sample
• Extensive background IP can be used and be
licensed to the customer
• Exclusivity for customers can be granted
• Common use case: diverse path in a safety
architecture
Challenges of environment perception
Motivation for Sensor Data Fusion
7
Multi-Sensor Data Fusion
Typical sensors for Advanced Driver Assistance Systems and Highly
Automated Driving in an exemplary setup
▪ radar sensors
▪ camera sensors
▪ lidar sensors
(ultrasonic sensors left out for simplicity)
8
• False negatives
• False positives
• Measurement cardinality
• Measurement noise
• overlapping sensor fields of view
• complementary sensor fields of view
• fusing data from multiple sensors / technologies
• tracking objects consistently over all sensor fields
Multi-Sensor Data Fusion
Challenges
Options for data fusion development
10
Options for data fusion development
Sources of Sensor Data Fusion Systems
?
Radar Data
Camera Data
Lidar Data
Driving FunctionFCW, AEB, ACC, TJA, HWP, …
Steering
Throttle
Brake
Data Fusion(C-Code)
11
Integration
ECU
Options for data fusion development
How can we get data fusion systems?
?Data Fusion
Algorithm(library)
12
Integration
ECU
Options for data fusion development
Data fusion system can be provided by suppliers
matching data fusion library
Data Fusion
Algorithm(library)
13
Integration
ECU
Options for data fusion development
Data fusion system can be provided by suppliers – what happens when a
sensor is changed?
Data Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Algorithm(library)
matching data fusion library
?
14
Integration
ECU
Options for data fusion development
Data fusion systems can be implemented via in-house development
user inputData Fusion
Calibration Tools
Data Fusion
SDK FunctionsData Fusion
Calibration Tools
Data Fusion
Sensor ModelsData Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
source codecompilation
for platform
Data Fusion
Calibration Tools
Data Fusion
Algorithm(library)
In-house
Data Fusion
Implementation
In-house
Data Fusion
Implementation
15
Integration
ECU
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
Options for data fusion development
Data fusion systems can be implemented via in-house development – what
happens when the sensor setup is changed?
user input
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
SDK FunctionsData Fusion
Calibration Tools
Data Fusion
Sensor ModelsData Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
source codecompilation
for platform
?Data Fusion
Calibration Tools
Data Fusion
Algorithm(library)
16
Integration
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
Options for data fusion development
Data fusion systems can be implemented via in-house development – what
happens when the sensor setup is changed?
user input
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
SDK FunctionsData Fusion
Calibration Tools
Data Fusion
Sensor ModelsData Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
source codecompilation
for platform
Data Fusion
Calibration Tools
Data Fusion
Algorithm(library)
ECU
17
Integration
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
Options for data fusion development
Data fusion systems can be implemented via in-house development – what
happens when the sensor setup is changed again?
user input
ECU
In-house
Data Fusion
Implementation
Data Fusion
Calibration Tools
Data Fusion
SDK FunctionsData Fusion
Calibration Tools
Data Fusion
Sensor ModelsData Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
source codecompilation
for platform
Data Fusion
Calibration Tools
Data Fusion
Algorithm(library)
18
19
20
IntegrationConfiguration CalibrationPC ECUPC
With a modular architecture, data fusion systems can be implemented…
Data Fusion
Calibration Tools
Data Fusion
SDK FunctionsData Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
compilation
for platformuser input
In-house
Data Fusion
Implementation
source code
Data Fusion
Calibration Tools
Data Fusion
Sensor ModelsData Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
21
Integration
ECU
Data Fusion
Calibration Tools
Data Fusion
SDK Functionscompilation
for platform
Data Fusion
Calibration Tools
Data Fusion
Sensor ModelsData Fusion
Calibration Tools
Data Fusion
Sensor Models(C-Code)
Data Fusion
Calibration Tools
Data Fusion
ArchitectureData Fusion
Calibration Tools
Data Fusion
Architecture(C-Code)
Sensor
Models(Pre-defined)
Sensor
Models(Pre-defined)
Data Fusion
Architecture(configurable templates)
Object fusion and arbitrary custom
modifications to the data fusion algorithm
Sensor
Models(Pre-defined)
Sensor
Models(Pre-defined)
Data Fusion
SDK Functionstested data fusion software units,
functions, models and algorithms
Sensor
Models(User-defined)
Sensor
Models(User-defined)
Data Fusion
Sensor Models(configurable templates)
utilization of off-the-shelf and
custom cameras, radars, lidars
user input source code
Data Fusion
Designer
Data Fusion
Generatorsensor
configuration
Data Fusion
Calibration Tools
Data Fusion
SDK Functions(C-Code)
With a modular architecture, data fusion systems can be implemented using a
configurable library
Radar Data
Camera Data
Lidar Data
Driving FunctionFCW, AEB, ACC, TJA, HWP, …
Steering
Throttle
Brake
Data Fusion(C-Code)
Data FusionC-Code
Generate data fusion systems
Series-production-readyECU
Embedded data fusion library
Graphical configuration
ASPICE, ISO26262, MISRA
Early data fusion
system integration and
testing
Software Detailed
Design & Unit
Construction
Rapid prototyping
through graphical data
fusion configuration
Focus on driving system instead of
data fusion implementation
Continuous data fusion
system integration and
testing
ASPICE and ISO26262 compliant data fusion
“by pressing a button”
including software unit verification
60% cost reduction
compared to in-house
development
Short time to market Limited series project
risk
Data Fusion
Requirements
Data Fusion C-Code
for Series Production
Data Fusion C-Code
for Prototypes
Business model
Product• Standardized data fusion software library
• Direct integration in AUTOSAR
• Basis for development of customer IP and
proprietary software – designed for re-usability
• Resource- and cost-effective access to (non-
differentiating) commodity software parts
Engineering services• Custom development of data fusion
implementations for specific use cases
• A-D Sample
• Extensive background IP can be used and be
licensed to the customer
• Exclusivity for customers can be granted
• Common use case: diverse path in a safety
architecture
25
BASELABS Create Embedded
Overview
• Data fusion software
• Embedded library
• Object fusion for
• AEB
• ACC
• Highway Pilot
• Supports
• Radar
• Camera
• Lidar
• Runs on embedded systems, e.g. Aurix 2G, Renesas RH850, ARM
• Series production ready (ASPICE)
26
Customer examples
1R1V object fusion as part of a series development for an OEM
Objective
Sensor setup
Target plattform
Object fusion for an AEB driving function
Two-sensor setup with a front radar and a
front smart camera
Renesas RH850 240MHz
27
Customer examples
360° object fusion for a prototype of a Tier1 supplier
Objective
Sensor setup
Target plattform
360° object fusion for highway pilot, B-Sample
Front radar
Corner radars
Lidar (providing object lists)
Camera
Renesas R-Car H3
Usage at customer
32
Backup
„safety module“
Safety Module
BASELABS complements decomposed safety architectures: diverse path or
backup “safety module”
Sensors Actuators
Customer Environmental Model
– primary path
Environmental Model - secondary path
• By BASELABS or
• By customer (partners) with
BASELABS product usage
Diverse path
ASIL D Environmental Model
ASIL B (D)
ASIL B (D)
33
Backup
„safety module“
Safety Module
BASELABS complements decomposed safety architectures: diverse path or
backup “safety module”
Sensors Actuators
Customer Environmental Model
– primary path
Environmental Model - secondary path
• By BASELABS or
• By customer (partners) with
BASELABS product usage
Diverse path
ASIL D Environmental Model
ASIL B (D)
ASIL B (D)
50
Business model
Version history
01.03.2019
Release 2.0:
• Width and length estimation
• Model wizards
15.04.2019
Release 3.0:
• Smart radar measurement model
• Expert mode
• Improved model extensibility and
reusability
• Visualization of object length and width
• Improved workflow for series
development
18.10.2019
Release 4.0:
• Classification fusion
• Handling of out-of-sequence
measurements (OOSM)
• Runtime calibration
• Visualization of ego motion data
• Track statistics
• Traceability
• Host vehicle parameters
19.07.2019
Initial release
51
Data Fusion
Designer
52
134
Holger Löbel
Senior Business Development Manager
Co-Founder
+49 371 3371 51 21