基于 HiL 硬件在环系统的 ADAS 测试方案
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4
reuse
source: Google’s self-driving car monthly report, 2015
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Maneuver control
• • • • Open-loop driver input Course following-e.g. double lane change Virtual driver-different styles etc.
I/O interface
• • • • CAN, LIN Ethernet ADC, DAC, PWM and etc. Third party I/O for extension
money
• Saving time for test preparation
time
• High coverage of critical tests
risk
• Repeatable and traceable
again on the road, the company
explained. When the fix has been reviewed successfully, it is then rolled out to the entire fleet.
7
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
I/O
Sensor model
Maneuver cont源自文库ol
Realtime PC
Sensor Model
I/O interface
Expertise database
Maneuver Control
Scenario database
6
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
• HIL run for performance evaluation
Open loop HiL
9
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
2
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
ADAS HiL Solution
-project example for Camera based system
Ground truth data is used for calibration of the function under test
DA sensor providing object information for validation of objects tracking and tracing Depth camera providing deepness values for validation of stereo camera algorithms Lane marker sensor providing lane marker information for validation of LKA or LDW
• Cost reduction
"These events are rare and our engineers carefully study these simulated contacts and refine the software to ensure the self-driving car performs safely," wrote Google in the report. A software "fix" is tested against many miles of simulated driving then tested
− Costs for such release testing: several 100 million EUR
Source: Prof. Winner et al., Darmstaedter Kolloquium “Mensch und Fahrzeug”, 2011
Solution:
− Looking for sustainable and affordable concept for test and validation on ADAS system
Virtual Environment for ADAS HiL Test Consulting and Engineering/Mr. Le Yang
1
Public| ETAS/ESC| 2013-06-15| © ETAS GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Data basis:2.000.000km, >1000 drivers; source: Dr. Markus Fach et al., Daimler AG, VDI/VW Gemeinshafts-Tagung, 2010
Tomorrow
− Increasing system complexity of future ADAS will increase diversity of relevant test scenarios
Motivation
Today
− release testing of todays ADAS with up to 2 million test km and 1.000 test drivers
system Distance warning Breaking assistance BAS Plus PRE-SAFE breaking level1 PRE-SAFE breaking level2 Activation frequency per 10.000km 40-60 0.5-1 0.1-0.2 0 Km till activation 170-250 10.000-20.000 50.000-100.000 -
Sensor model
• • • • Camera/light model • Environment filter for the rain, fog, night lights and etc. • Camera filter for blur, glow effects, noises, lens distortion, depth of filed. Ultrasonic model Radar Model etc.
Requirements on ADAS HiL Test
Including the test cases from real and dummy tests, but not limited to them!
Driving scenario Realtime PC
ETAS Engineering Service and Knowhow
Scenario database
• • • Mandatory function test-e.g. AEB-City Market Standard function test-e.g. ACC. Light Differentiating function test-e.g. Traffic Jam Assist
Ground truth sensor for Camera
8
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Motivation Google’sCars Drive ThreeMillion SimulatedMiles Every Day
Each time a test driver takes over from the self-driving car, we’re able to play back the exact situation and predict via simulation what could have happened if the car had been left to drive itself.
ADAS HiL Solution
-project example for Camera based system
Current solution for validation of camera based system
• Sequence Generation
• Sequence check and store (Depositing of sequences on the file server) • Property Store search for Sequences • Sequence labeling for measurement programs and functions
Requirements on ADAS HiL Test
Realtime PC
• • • • High performance for calculation Multi core processor Open for third party model integration Open architecture for customized I/O
reuse
source: Google’s self-driving car monthly report, 2015
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Maneuver control
• • • • Open-loop driver input Course following-e.g. double lane change Virtual driver-different styles etc.
I/O interface
• • • • CAN, LIN Ethernet ADC, DAC, PWM and etc. Third party I/O for extension
money
• Saving time for test preparation
time
• High coverage of critical tests
risk
• Repeatable and traceable
again on the road, the company
explained. When the fix has been reviewed successfully, it is then rolled out to the entire fleet.
7
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
I/O
Sensor model
Maneuver cont源自文库ol
Realtime PC
Sensor Model
I/O interface
Expertise database
Maneuver Control
Scenario database
6
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
• HIL run for performance evaluation
Open loop HiL
9
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
2
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
ADAS HiL Solution
-project example for Camera based system
Ground truth data is used for calibration of the function under test
DA sensor providing object information for validation of objects tracking and tracing Depth camera providing deepness values for validation of stereo camera algorithms Lane marker sensor providing lane marker information for validation of LKA or LDW
• Cost reduction
"These events are rare and our engineers carefully study these simulated contacts and refine the software to ensure the self-driving car performs safely," wrote Google in the report. A software "fix" is tested against many miles of simulated driving then tested
− Costs for such release testing: several 100 million EUR
Source: Prof. Winner et al., Darmstaedter Kolloquium “Mensch und Fahrzeug”, 2011
Solution:
− Looking for sustainable and affordable concept for test and validation on ADAS system
Virtual Environment for ADAS HiL Test Consulting and Engineering/Mr. Le Yang
1
Public| ETAS/ESC| 2013-06-15| © ETAS GmbH 2013. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Data basis:2.000.000km, >1000 drivers; source: Dr. Markus Fach et al., Daimler AG, VDI/VW Gemeinshafts-Tagung, 2010
Tomorrow
− Increasing system complexity of future ADAS will increase diversity of relevant test scenarios
Motivation
Today
− release testing of todays ADAS with up to 2 million test km and 1.000 test drivers
system Distance warning Breaking assistance BAS Plus PRE-SAFE breaking level1 PRE-SAFE breaking level2 Activation frequency per 10.000km 40-60 0.5-1 0.1-0.2 0 Km till activation 170-250 10.000-20.000 50.000-100.000 -
Sensor model
• • • • Camera/light model • Environment filter for the rain, fog, night lights and etc. • Camera filter for blur, glow effects, noises, lens distortion, depth of filed. Ultrasonic model Radar Model etc.
Requirements on ADAS HiL Test
Including the test cases from real and dummy tests, but not limited to them!
Driving scenario Realtime PC
ETAS Engineering Service and Knowhow
Scenario database
• • • Mandatory function test-e.g. AEB-City Market Standard function test-e.g. ACC. Light Differentiating function test-e.g. Traffic Jam Assist
Ground truth sensor for Camera
8
Confidentiality | Department | Date | © ETAS GmbH 2012. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.
Motivation Google’sCars Drive ThreeMillion SimulatedMiles Every Day
Each time a test driver takes over from the self-driving car, we’re able to play back the exact situation and predict via simulation what could have happened if the car had been left to drive itself.
ADAS HiL Solution
-project example for Camera based system
Current solution for validation of camera based system
• Sequence Generation
• Sequence check and store (Depositing of sequences on the file server) • Property Store search for Sequences • Sequence labeling for measurement programs and functions
Requirements on ADAS HiL Test
Realtime PC
• • • • High performance for calculation Multi core processor Open for third party model integration Open architecture for customized I/O