GreENG - ADAS L345对架构的影响报告.pptx

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1、ADAS L3/4/5 Impact on EEA ADAS L3/4/5影响报告,目录,ADAS为什么越来越热？ ADAS全球市场需求&份额 ADAS主要功能 ADAS 等级分类(1/2) ADAS 等级分类(2/2) ADAS 等级实施 ADAS 等级2/3/4示例及其影响 ADAS 整车布局/安装 ADAS 等级在技术上主要差异(1/2) ADAS 等级在技术上主要差异(2/2) ADAS 等级2典型传感器 ADAS 等级2典型执行器,目录,ADAS 等级2传感器和执行器 ADAS 等级2典型架构 ADAS 等级2替代架构 ADAS 等级2架构 ADAS 等级3和4典型传感器及执行器 A

2、DAS 等级3和4传感器及执行器 ADAS 等级3和4典型架构 ADAS 等级3和4总线方案 ADAS 等级: 性能和安全等级(1/2) ADAS 等级: 性能和安全等级(2/2),Why Is ADAS More And More Hot?,One of the fastest-growing application areas for automotive electronics Far more certainty and upside potential than for HEV/EV electronics Driven by a combination of governmenta

3、l /legislative push and increasing consumer pull Driving changes in industry value chains & ecosystems,The global market for ADAS will grow to 7.2 billion by 2020. (1.1 billion in 2013),ADAS 为什么越来越热？,汽车电子增长最快的应用领域之一 比混合动力/电动汽车电子更具确定性和上升潜力 由政府/立法推动和消费者拉动的双重作用推动 推动行业价值链和生态系统的变革,到2020年ADAS 全球市场份额将增长到72

4、亿欧元。(2013年大约11亿欧元),ADAS Global Market Demand & Share,Global Major ADAS System Integrators & Market Share,ADAS Demand System Level Parking and lighting system 63% of market in 2010 Down to 27% by 2019 due to other system see faster growth,Global Major OEM Player for ADAS,全球主要ADAS系统集成商及市场份额,ADAS 需求 系统

5、级别 2010年泊车和照明系统约占63%的市场份额 到2019年由于其他系统的增长速度较快，泊车和照明系统需求将会下降到27%,ADAS全球主要OEM厂商,ADAS 全球市场需求&份额,ADAS Major Functionality,Major functions: ACC: Adaptive Cruise Control AEB: Automatic Emergency Braking LDW: Lane Departure Warning FCW: Forward Collision Warning DSR: Driver Status Recognition LKA: Lane Kee

6、ping Assist TJA: Traffic Jam Assist TSR: Traffic Sign Recognition PD: Pedestrian Detection BSD: Blind Spot Detection PA: Parking Assist CTA: Cross Traffic Alert AVM: Around View Monitoring RVC: Rear View Camera NV: Night Vision DVR: Digital Video Recorder,ADAS THE CIRCLE OF SAFETY:,ADAS Data Process

7、:,ADAS 主要功能,主要功能: ACC: 自适应巡航控制 AEB: 自动紧急制动 LDW: 车道偏离报警 FCW: 前碰撞警示 DSR: 驾驶员状态识别 LKA: 车道保持辅助 TJA: 交通拥堵辅助 TSR: 交通标志识别 PD: 行人检测 BSD: 盲点检测 PA: 停车辅助 CTA: 十字路口交通警报 AVM: 360度环视影像 RVC: 后视摄像头 NV: 夜视系统 DVR:行车记录仪,ADAS 整车安全环:,ADAS数据流处理:,ADAS Level Classification(1/2),Data / sensor in-depth fusion is the key for

8、ADAD level 3/4/5. The more complex features get, the more redundancy you need.,ADAS 等级分类(1/2),若要达到ADAD等级3/4/5，关键技术是多数据或传感器深度融合。 功能越复杂，需要的冗余就越多。,ADAS Level Classification(2/2),Definition Level of driving automation is defined in the SAE J3016 standard 6 level of automation are available Major differe

9、nce between Level 2 and Level 3 The levels are descriptive only and not considered as a “norm” Used in the industry as a classification to avoid confusion SAE J3016 provides full description and example for each level and is available for purchase on the SAE website,ADAS 等级分类(2/2),定义 在SAE J3016标准中定义

10、了自动驾驶等级 定义了自动驾驶6个等级 主要差异在等级2和等级3间 等级仅仅是一般描述不能认为是“标准” 作为一种分类在行业中使用以避免混淆 SAE J3016 为每个级别提供了完整的描述和示例，并且可以在SAE网站上购买,ADAS Level implementation,Major OEM roadmap (Source Infineon 2017) Roadmap is informative only and may differ depending on available technology, cost, regulation, etc. Level 2 is already i

11、mplemented and available in a number of vehicle Level 3 is planned to be introduced by premium OEM around 2020 Level 4 will follow,ADAS 等级实施,主要OEM路线图 (来源 Infineon 2017) 路线图仅提供信息，根据可用的技术、成本、法规等而有所不同 等级2已经在很多车辆上实现了 等级3在2020年左右由主要OEM计划推出 等级4待跟踪,ADAS Level 2/3/4 Example and Impact,Active Component / Sen

12、sor used for Function,Steering & Torque Control,Cameras (Short Range),Master ECU,Front Camera (Tri / MBP),GPS/TCU Module,ADAS等级2/3/4 示例及其影响,用于功能的主动零部件/传感器,转向和转矩控制,摄像头 (短距),主控制器 ECU,前视摄像头(Tri / MBP),GPS/T Box 模块,ADAS Layout / Packaging,LDW / LKA,DVR,DSR,AVM,ACC,TSR,PA,PD,BSD,CTA,AEB,NV,FCW,TJA,ADAS 整

13、车布局/安装,LDW / LKA,DVR,DSR,AVM,ACC,TSR,PA,PD,BSD,CTA,AEB,NV,FCW,TJA,ADAS Level main difference in technology (1/2),Sensors Table estimate what sensors are necessary for each ADAS level, major difference: L2: Vehicle must monitor front and optional corner (depending on ADAS function) L3: Vehicle must m

14、onitor the surroundings L4: Vehicle must monitor the surroundings and react without the driver in case of failure,ADAS 等级在技术上主要差异(1/2),传感器 表格评估针对每个ADAS等级需要什么传感器，主要差异: L2: 车辆必须监视前方和可选的拐角(根据ADAS功能) L3: 车辆必须监控周围环境 L4: 车辆必须监控周围环境并在没有驾驶员情况下如果发生故障车辆要做出反应,ADAS Level main difference in technology (2/2),Cont

15、rol and Actuators Table estimate what control and actuators are necessary for each ADAS level, major difference L2: Driver can take control L3: Vehicle must warn the driver fast enough to ask him to take control L4: Vehicle must be able to react without the driver in case of failure,ADAS 等级在技术上主要差异(

16、2/2),控制和执行器 表格评估针对每个ADAS等级需要什么控制和执行器，主要差异 L2: 驾驶员可以控制 L3: 车辆必须快速警告驾驶员接管控制车辆 L4: 如果故障，在没有驾驶员情况下车辆必须能够做出反应,ADAS Level 2 typical sensors,List of sensors for typical ADAS function (radar, camera and ultrasonic sensors) Radar enable to improve detection in harsh environment such as rain, sun, snow, etc.,

17、ADAS 等级2典型传感器,典型ADAS功能传感器列表(雷达，摄像头及超声波传感器) 雷达能在恶劣的环境中提高探测能力，如雨、太阳、雪等,ADAS Level 2 typical actuators,List of additional control (switch) and actuator,ADAS 等级2典型执行器,附加控制(开关)和执行器的列表,ADAS Level 2 sensors and actuator,Sensors and actuators for typical ADAS function,Near camera (surround),Front camera (AE

18、B, ACC, TSR, etc.),Infrared camera (Night vision),Front radar (AEB, ACC, TJA, etc.),Side radar (CTA,LCA),Engine,Brake,EPS,IC,Central screen,Brake light,Indicator,Headlight,Ultrasound sensor (Park Assist),ADAS 等级2传感器和执行器,典型ADAS功能的传感器和执行器,近距摄像头 (环视),前摄像头(AEB, ACC, TSR, etc.),红外摄像头(夜视),前雷达(AEB, ACC, TJ

19、A, etc.),侧雷达(CTA,LCA),Engine,制动器,EPS,仪表板,中控屏,刹车灯,指示器,大灯,超声波传感器(泊车辅助),ADAS Level 2 typical architecture,Front Camera,Optional,Private CAN for data fusion,Front Radar,Side FL radar,Side FR radar,Side RL radar,Side RR radar,Private CAN for data fusion (optional),Private CAN for data fusion (optional),B

20、rake,Power steering,Park Assist,Ultrasonic sensors,Engine,IC,Central screen,ADAS function allocation: In camera or radar e.g. AEB, LKA, ACC In specific ECU e.g. Park Assist,360 View,Camera - Front - Rear - Left - Right,Optional,CAN 500Kb,CAN 500Kb,CAN 500Kb,Ethernet,Gateway,Body,Light left,Light rig

21、ht,LIN,Infrared camera,Rear camera,ADAS 等级2典型架构,前摄像头,可选,用于数据融合的本地CAN,前雷达,左前侧方雷达,右前侧方雷达,左后侧方雷达,右后侧方雷达,用于数据融合的本地CAN (可选),制动器,动力转向,泊车辅助,超声波 传感器,发动机,仪表板,中控屏,ADAS 功能分配: 摄像头或雷达， 如 AEB, LKA, ACC 特定的ECU， 如泊车辅助,360度环视,摄像头 - 前 - 后 - 左 - 右,可选,CAN 500Kb,CAN 500Kb,CAN 500Kb,以太网,网关,车身,灯左,灯右,LIN,红外摄像头,后视摄像头,用于数据融合

22、的本地CAN (可选),ADAS Level 2 alternative architecture,Front Camera,Front Radar,Side FL radar,Side FR radar,Side RL radar,Side RR radar,CAN 500Kb,ADAS,Data fusion in a special controller,Front Camera,Private CAN for data fusion,Front Radar,Side FL radar,Side FR radar,Side RL radar,Side RR radar,Private C

23、AN for data fusion (optional),Private CAN for data fusion (optional),Brake,Power steering,Park Assist,Ultrasonic sensors,CAN 1Mb,If bandwidth high, not too much ECU and limited amount of ADAS: Can be integrated directly on Chassis,ADAS 等级2替代架构,前摄像头,前雷达,左前侧方雷达,右前侧方雷达,左后侧方雷达,右后侧方雷达,CAN 500Kb,ADAS,特定控制

24、器中的数据融合,前摄像头,用于数据融合的本地CAN,前雷达,左前侧方雷达,右前侧方雷达,左后侧方雷达,右后侧方雷达,用于数据融合的本地CAN (可选),制动器,动力转向,泊车辅助,超声波 传感器,CAN 1Mb,如果带宽高，没有太多的ECU和ADAS数量限制，可以直接集成到底盘上,用于数据融合的本地CAN (可选),ADAS Level 2 architecture,Additional sensors or information are required but not mentioned Used by “standard” functions, example Wheel speed

25、sensor for vehicle speed and distance travelled Maximum torque (ACC) Some ADAS function are safety relevant and requires the signal to have ASIL level Example: Door ajar switch must be ASIL A. It means that if current Ajar switch or controller in the design or carry over cannot fulfil this level of

26、safety, another sensor or processor must be found Allocation depends on existing components Some suppliers have integrated many ADAS in the camera or radar controller Other possibility is to use a specific controller ASIL level has an impact on the allocation and command Data fusion Data fusion betw

27、een camera and radar usually requires to transfer a lot of data Private bus is recommended to avoid having many messages on the Bus Actuators If brakes or engine is controlled by ADAS e.g. ACC, AEB, etc. a fast and safety relevant signal is necessary,ADAS 等级2架构,需要额外的传感器或信息，但没有提到 使用“标准”的功能, 例如 用于车速和距

28、离行程的轮速传感器 最大扭矩 (ACC) 一些ADAS功能与安全相关并且要求信号具有ASIL水平要求 例: 门半开开关必须是 ASIL A. 这意味着在设计或延用过程中如果当前的半开开关或控制器无法达到这一安全水平，则必须找到另一个传感器或处理器。 分配取决于现有的部件 一些供应商在相机或雷达控制器中集成了很多的ADAS功能 另一种可能是使用特定的控制器 ASIL级别对分配和命令有影响 数据融合 相机和雷达之间的数据融合通常需要传输大量数据 建议使用私有总线以避免在总线上有许多消息 执行器 I如果ADAS控制刹车或引擎，如ACC、AEB等，那么快速和安全相关的信号是必要的,ADAS level

29、 3 and 4 typical sensors & actuators,List of sensors for typical ADAS function (radar, camera and ultrasonic sensors) List of additional control (switch) and actuator,ADAS 等级3和4典型传感器及执行器,典型ADAS功能传感器列表(雷达，摄像头及超声波传感器) 附加控制(开关)执行器列表,ADAS Level 3 and 4 sensors and actuator,Sensors and actuators for typi

30、cal Level 2, 3 and 4 ADAS function,Near camera (surround),Front and rear camera (AEB, ACC, TSR, etc.),Infrared camera (Night vision),Front and rear radar (AEB, ACC, TJA, etc.),Side and surround radar,Engine,Brake,EPS,IC,Central screen,Brake light,Indicator,Headlight,Ultrasound sensor (Park Assist),L

31、IDAR,V2X GPS,Driver camera,ADAS 等级3和4传感器及执行器,典型的等级2, 3, 4 ADAS功能传感器和执行器,近距摄像头 (环视),前后摄像头(AEB, ACC, TSR, etc.),红外摄像头 (夜视),前后雷达 (AEB, ACC, TJA, etc.),侧方和环绕雷达,Engine,制动器,EPS,仪表板,中控屏,刹车灯,指示器,大灯,超声波传感器(泊车辅助),激光雷达,V2X GPS,驾驶员侧摄像头,ADAS Level 3 and 4 typical architecture,High amount of data fusion for surro

32、und vision: ADAS controller recommended,Brake,Power steering,Ultrasonic Sensors,Engine,IC,Central screen,Camera - Front - Rear - Left - Right,Optional,CAN 500Kb,CAN 500Kb,CAN 500Kb,Ethernet,Gateway,Body,Light left,Light right,LIN,Infrared camera,Corner Radar Front Left Front Right Rear Left Rear Rig

33、ht,Front detection Camera Radar LIDAR,Rear detection Camera Radar,Front detection,Rear detection,Surround detection,ADAS Controller,Optional,GPS,Vehicle monitoring: V2X,Road monitoring,Driver camera,Driver monitoring,ADAS 等级3和4典型架构,针对四周环境的大量数据融合: 推荐使用ADAS控制器,制动器,动力转向,超声波传感器,发动机,仪表板,中控屏,摄像头 - 前 - 后 -

34、 左 - 右,Optional,CAN 500Kb,CAN 500Kb,CAN 500Kb,以太网,Gateway,车身,灯左,灯右,LIN,红外摄像头,拐角雷达 前左 前右 后左 后右,前方检测 摄像头 雷达 激光雷达,后方检测 摄像头 雷达,前方检测,后方检测,四周环境检测,ADAS 控制器,Optional,GPS,车辆检测: V2X,Road monitoring,驾驶员摄像头,驾驶员检测,Bus Solution For ADAS Level 3 and 4,Assuming ADAS controller is used for data fusion: Basic informa

35、tion to send receive is estimated to be 60% bus load based on a 500Kb CAN, we can expect more It therefore makes a 500KB CAN bus alone not possible. Recommendation is to use Solution 1: A single bus but with high bandwidth (CAN FD, FlexRay or Ethernet) Solution 2: CAN bus to CGW and private bus to o

36、ther ECUs to reduce the bus load. Solution 3: A bus could be used for command in general and Ethernet used to transmit camera, GPS and HMI information in general Solution 4: Use a backbone architecture (Diagram above shows a combination of solution 2 and solution 3) Safety consideration: Depending o

37、n safety analysis, an additional bus for redundancy may have to be used Conclusion: If ADAS controller is used as expected, “standard” communication with a central gateway abased on 500Kb CAN is not possible More advance solution must be developed,ADAS等级3和4总线方案,假设使用ADAS控制器处理数据融合: 基于500Kb CAN总线，用来发送/

38、接收的基本信息据估计占到总线负载的60%，可能会更高 因此单独做一个500KB CAN总线不太可能 建议使用 方案1: 单独一条总线但是需要高宽带 (CAN FD, FlexRay or Ethernet) 方案2: CAN总线到网关CGW，本地总线到其他ECU以减小总线负载 方案3: 通常一条总线作为控制，以太网用来传输摄像头，GPS和人机交互界面信息 方案4: 使用主干网架构 (上面示意图是方案2和3的整合) 安全考量: 根据安全性分析，可能需要使用额外的冗余总线 结论: 如果不出所料使用了ADAS控制器，就不可能使用基于500Kb CAN总线和中央网关的“标准”通信 必须开发更先进的解决

39、方案,ADAS Level: Performance and safety class (1/2),Performance OEM must define the level of performance Depending on the level of performance the sensors and actuators performance, technology, durability, etc. may differ Safety class OEM must estimate the safety class of each function from ISO26262 s

40、tandard Depending on the estimated class the sensors and actuators performance, technology, durability, etc. may differ Example 1: Performance Automatic Emergency Braking, OEM performance: AEB works up to 50 km/h Involves a short range camera If AEB performance is up to 80 km/h, Camera must have a l

41、arger range Enhanced performance: AEB must work if snowing. Involved to use Radar and data fusion with camera,ADAS 等级: 性能和安全等级(1/2),性能 OEM必须定义性能等级 取决于性能等级，传感器和执行器的性能，技术，耐久性等可能不同 安全等级 OEM必须根据ISO26262标准对每个功能的安全等级进行评估。 根据估计的等级，传感器和执行器的性能，技术，耐久性等可能不同 例1: 性能 自动紧急制动，OEM性能:AEB运行最高可达50公里 涉及短距摄像头 如果AEB的性能达到8

42、0公里, 摄像机必须有更大的范围 增强性能:如果下雪AEB必须工作. 涉及使用雷达和数据融合的摄像头,ADAS Level: Performance and safety class (2/2),Example 2: Safety Electronic Power Steering failure Up to level 3 of automation, the driver can still turn the steering wheel even without assistance (may be hard but in theory it is possible) In high a

43、utomation (Level 4), the system must be able to react in case of failure If one motor for EPS is used, the system cannot recover in case of failure Two motors seems therefore better adapted for high automation A double stator or 6-phase motor may be used: If one motor fails, the second one can still

44、 work, providing normal to degraded performance depending on the requested torque. If one phase is faulty, the motor can still work on 5 phase For high automation (level 4), the EPS technology may therefore differ from Level 2 or 3 (two motors instead of one motor),M1,ADAS 等级: 性能和安全等级(2/2),例 2: 安全 电子助力转向失败 自动驾驶达到级别3，即使没有辅助功能司机仍然可以转动方向盘(可能很难，但理论上是可能的) 在高度自动驾驶(级别4)中，系统必须能够在发生故障时作出反应 如果EPS使用一个马达，系统就无法在故障时恢复 因此两个发动机似乎更好地适合高度自动驾驶 可能用到双定子或六相电机: 如果一个马达坏了，第二个仍然可以正常工作，根据请求的扭矩正常提供退化的性能 如果一相出现错误，马达仍然可以用5相工作 对于高度自动驾驶(等级4)，EPS技术可能不同于与等级2或3(两个马达而不是一个马达),M1,