Items to specify: 4. Motor Speed Control. Head Unit. Radar. Steering Wheel Angle. ego vehicle speed control

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3 Radar Steering Wheel Angle Motor Speed Control Head Unit target vehicle candidates, their velocity / acceleration target vehicle selection ego vehicle speed control system activation, status communication Items to specify: 4 Elektrobit (EB) 2016

4 Items to specify : Mercedes S-Class Distronic 2002: VW Phaeton ACC 2005: Mercedes S-Class Distronic plus 2006: Audi Q7 ACC plus / AEB 2010: Audi A8 GPS-guided ACC 2013: Mercedes S-Class Dist.+ / Steering Assistant 2015: Audi Q7 Traffic Jam Assistant Elektrobit (EB)

5 Radar Steering Wheel Sensors Moving objects Motor Speed Control Head Unit Camera Wheel Speeds Static obstacles Trajectory planning & control Regenerative Braking Side Tasks LIDAR Sonar IMU / Gyro Global Position Maps Lanes Signs Vehicle ego motion Items to specify: 24 Fail-safe / -degraded mechanisms Brake Pressure Steering Angle Control Functional safety Redundancies Elektrobit (EB)

6 Radar Steering Wheel Sensors Moving objects Motor Speed Control Head Unit Camera Wheel Speeds Static obstacles Trajectory planning & control Regenerative Braking Side Tasks LIDAR Sonar IMU / Gyro Global Position Maps Lanes Signs Vehicle ego motion Items to specify: 24 Fail-safe / -degraded mechanisms Brake Pressure Steering Angle Control Functional safety Redundancies Elektrobit (EB)

7 Steering Angle Wheel Speeds Automated Driving IMU / Gyro Maps Camera Global Position Radar Automated Emergency Brake Automated Valet Parking LIDAR Sonar Interactions: n m for n sensors, m functions Elektrobit (EB)

8 Steering Wheel Sensors Vehicle ego motion Moving objects Automated Driving Wheel Speeds Radar Static obstacles Lanes Automated Emergency Brake IMU/ Gyro Global Position Camera LIDAR Signs Sensor Data Fusion Automated Valet Parking Maps Sonar Interactions: n + m + k for n sensors, m functions, k abstraction components Elektrobit (EB)

9 Sensor Data Fusion: From echos to objects and free space HMI Management: From buttons and LEDs to user interactions Automated Driving Automated Emergency Brake Motion Management: From brake pressure to trajectory control Automated Valet Parking Elektrobit (EB)

10 Automated Driving Automated Emergency Brake Well-defined interfaces Well-defined interfaces Automated Valet Parking Well-defined interfaces Well-defined interfaces Elektrobit (EB)

11 Project-Level Architecture Best Practices: Reduce complexity Product Family Architecture Best Practices: Re-use specified, developed, industrialized and tested components Industry-Wide Architecture Best Practices Peer review of functionalities, safety and security mechanisms Lower entry into HAD development No vendor lock-in Elektrobit (EB)

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13 EB robinos Software modules for prototyping in EB Assist ADTF for rapid embedding on AUTOSAR for production on vehicle ECU Developed, tested, verified according to functional safety standards Open robinos Specifies a reference platform for automated driving up to Level 5 (SAE) Freely available and licensed as Creative Commons Elektrobit (EB)

14 EB robinos EB Assist ADTF Rapid prototyping C, C++, Model based Elektrobit (EB) 2016 Desktop PC / Car PC 14

15 EB robinos EB Assist ADTF EB tresos solution for AD Rapid prototyping C, C++, Model based Embedded prototyping C, C++ Desktop PC / Car PC Evaluation Hardware Elektrobit (EB)

16 EB robinos EB Assist ADTF EB tresos solution for AD Rapid prototyping C, C++, Model based Embedded prototyping C, C++ Automotive grade software Desktop PC / Car PC Evaluation Hardware Domain Control ECU Elektrobit (EB)

17 Vehicle Abstraction - Sensors Function Specific Views Vehicle Abstraction - Actuators Sensor Data Fusion Situative Behavior Arbitration Motion Management Positioning Situation Analysis Behavior Path Planning Trajectory Control Object Fusion Grid Fusion Road and Lane Fusion Vehicle Database Situation Analysis Situation Analysis Behavior Behavior Path Planning Path Planning Longitudinal Control Lateral Control HMI Management Safety Management Elektrobit (EB)

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21 Example Application: Automated Valet Parking 21

22 Industry-Wide Architecture Best Practices Peer review of functionalities, safety and security mechanisms Lower entry into HAD development No vendor lock-in Elektrobit (EB)

23 Summary Automated driving systems are complex Efficient collaboration requires a standard architecture Open robinos ist the first step open-robinos.com

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