adas hil for sensors fusion - automotive spin · 2019. 3. 8. · and multiple verification features...
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ADAS HIL FOR SENSORS FUSIONMarino Difino (Altran Italia)
Giuseppe Doronzo (Altran Italia)
Davide Palandella (National Instruments)
21 Febbraio 2019
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As vehicles move towards autonomous capability, there is rising need for hardware-in-the loop (HIL) test capability to validate
and verify functionality of ADAS system.
“Sensors Data Fusion” is the mixture of information from different sensors in order to perceive a clearer view of the
surrounding environment. This is a necessary condition to move towards more reliable safety functionality and effective
autonomous driving systems.
A typical example is the fusion between information provided by a front camera and radar. The camera works in the visible
spectrum and it can manage data as color and shape of the lanes, traffic signs recognition, lights beam detection as the radar
is able to estimate, with adequate accuracy, distance between obstacles as vehicles.
Advanced Driver-Assistance Systems Verification & Validation
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AHTES: ADAS HIL Test Environment Suite
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Altran Italia has developed an Hardware In the Loop RF platform based on NI technologies and a 3D virtual road scenarios.
Producing a scenario full synchronized between Camera and Radar, the "sensor fusion" performed by ADAS ECUs is
verified.
The loop is closed directly on the RF sensor (76-82GHz) in order to offer advanced V&V methodologies, test automation
and multiple verification features as characterization and pre-calibration of safety-critical systems, integration with any
existing HIL architectures, as well as native expandability to handle the increasing complexity in terms of vehicle electronics
Connectivity (V2X and Navigation GNSS).
AHTES: ADAS HIL Test Environment Suite
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The PXI, in charge of working as HIL, reads the positions of the pedals and the steering angle and communicates them via
Ethernet to a workstation where an application developed in Unity 3D platform runs.
Through a control panel it is possible to manage the scenario, assuring that the objects appear with a certain angle of
incidence and a certain speed, changing the climatic or light conditions
During the graphic simulation, data are passed in real time to the radar target generator (i.e. Distance, the Radar Cross
Section of the target, the Angle of arrival and Speed).
Video Scenario Generation
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NI Vehicle Radar Test System (VRTS) provides automated radar measurement and obstacle simulation capabilities for 76
to 81 GHz automotive radar systems.
The VRTS has been integrated in the platform by means of a dedicated CAN where data is transmitted towards the RF
device itself. The RF Head is capable of generating 2 different targets with 1 angle of arrival.
Standard maneuvers provided by NCAP guidelines can be preliminarily verified in electronic lab saving testing time and
effort.
.
RF Generator - Vehicular Radar Test System
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The PoC developed with the VRTS working, has been verifying features ad “Automatic Emergency Brake (AEB)” and
“Adaptive Cruise Control (ACC)” while features as “Traffic Sign recognition” and “Lane Departure Warning” have
been verified using front camera only.
Altran is currently using the graphic scenario to verify front camera features installed in EE integration test benches.
By means of the platform for generating graphic scenarios that can be synchronized with the hil, a wide range of test
scenarios to support ADAS design can be done: characterization and calibration of the ADAS and functional verification.
Current applications
• Definitively reduction of in-vehicle tests, increase of repeatability and automation, support in defining suited
methodologies to test safety-critical components in the loop
• Real Production Software under test (no change in calibration)
• Suitable to support different kinds of Radar / Camera sensors: just a change in the setup
• Modular approach: in the bench can be integrated other ECUs as brake control unit, electrical steering
Results & Added Value - Advantages of a simulated approach
Immagine / pezzo di video
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Different model of sensors (radar, camera, Lidar, Ultrasound); large amount of data to manage
• Algorithm verification: test platform able to modelling of communication stream data coming from sensors
• Datalogging from road test for algorithm training (AI and machine learning) and preliminary validation
All the data stored (coming both from simulator and from field) can be played back and sent back to the control unit.
The behavior of the driver assistance system can be reproduced exactly with the same scenarios acquired allowing the
validation of the logic implemented with repeatable tests in real and controllable scenarios.
Sensors Fusion Control Unit…Next Step
NI CONFIDENTIAL
Testing Vehicle Perception
Sensors Machine Learning SoftwareUnderstanding of the
world around the vehicle
High Fidelity In-vehicle Recording
Record all bus data and sensor interfaces
All data must be synchronized
High throughput/ high bandwidth (up to 15GB/s)
Data compression
Extremely high capacity storage
Flexibility
I/O Expansion, Customization, Swap, Sensor interface updates
In-vehicle environmental requirements
Recording System Sensors PowerUI and Control
ni.com
“Every emerging generation of camera typically has a new custom communications protocol. By using
FlexRIO, an FPGA configurable add-on for PXI modules, we can limit our redesign to just an adapter
board that acts as an interface between the DUT and the rest of the system. Using the PXI platform, we
get the flexibility we need, while still ensuring we can reuse all the common elements such as the DAQ
functionality and HIL environment.”— Derek O’Dea, Valeo
Radar
Camera
Lidar
ADAS ECU
In-Vehicle ADAS Recording
Vehicle Networks
Custom debug
interface
FPD Link, GMSL,
CSI-2
Test Case Mgmt & Configuration
CAN, Ethernet
Ethernet RAID
Interface
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Data
Movement
Engine
Data
Acquisition
Engine
Data Training
Other ECUs
Lab-based Playback for ADAS
Vehicle Networks
Camera Interfaces
Test Case Mgmt & Configuration
Vehicle Networks
MIO
RAID
Interface
Ne
two
rk
Co
mm
un
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tio
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Data
Movement
Engine
Data
Acquisition
Engine
Playback control and ECU
response monitoring
ADAS ECU
Valeo System Architecture
Common Bus / Timing Bus (100ns res.)PXI Controller
(Windows PC)
RAID Storage
FPGA
Card
Adapter
Module
COMMON
(Re-used)
CONFIGURABLE
Vehicle
Bus
Interface
FPGA
Card
Adapter
Module
DAQ
DIO,
Analog,
LUX-Meter
CAN,
FlexRay
Ethernet
LIDAR,
XCP,
RADAR
.......
NI PXI Chassis
Video Server
Test ADAS
Designing and Testing Automated Parking Systems
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Marino Difino
Advanced Solution Manager
Product & System Engineering
Altran Italia
Mobile: +39.348.843.8403
Thank you for your attention
Giuseppe Doronzo
Delivery Manager
Advanced Test & Simulation
Altran Italia
Mobile: +39 342.16.37.955
Davide Palandella
Automotive Account Manager
National Instruments
Italy
Mobile: +39.348.23.33.286
Linkshttps://www.youtube.com/watch?v=wZ_AedCUofY
https://www.altran.com/as-content/uploads/sites/10/2017/07/adas_hil_for_sensor_fusion_paper.pdf
http://www.ni.com/white-paper/53961/it/
EventsNI Automotive Forum @ Bologna – 11 Giugno 2019
Autonomous Driving Validation Methodologies and Solutions
Electrica & Hybrid Vehicles Validation and Simulation Solutions
