adas & adasis v2 - sinisa...

Sinisa Durekovic, NAVTEQ

ADAS & ADASIS v2

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Who am I?

Sinisa Durekovic

NAVTEQ, Principal Engineer, Team Lead SPM CE EMEA In-Vehicle

Editor ADASIS v2 Protocol Specification

Coordinator ADASIS v2 Horizon Reconstructor Implementation Task Force

MAPS & ADAS project 2005-2007

ADASIS Forum since 2005

interactIVe, EcoMove, Genivi, …

Dynamic Pass Predictor, Curve/Speed Warning, Intelligent ACC, Green ACC, …

Principal Consultant at NAVTEQ since 2003

Responsible for ADASRP since 2004

E-mail: [email protected]

Tel: +49 (6196) 589-313

Studied Mathematics at University of Zagreb, Croatia

In Software Development since 1986

Working on In-Car Navigation Systems since 19953

mailto:[email protected]

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What is ADAS?

Advanced Driver Assistance Systems (ADAS) is the application of automotive sensor,

computational and/or digital map technologies to create driving experiences that are:

safer

less stressful

more productive

more economical

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ADAS Application: Adaptive Cruise Control

Standard Cruise Control

Driver sets desired driving speed

Adaptive Cruise Control

Using radars/lidars, adjust speed to the vehicle in front

Accelerate to desired speed if lane is clear


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ACC Issue: Wrong detection of car in front at curve!


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ACC Issue: Acceleration on Highway Exits!


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ACC Issue: Excessive curve/crossing speed!

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ACC Issue: Wrong detection of car in front at curve

Solution approach: Use Digital Map identify such situation and refine locking algorithm

ACC Issue: Acceleration on Highway exits

Solution: Use Digital Map to identify when car will leave the highway

ACC Issue: Excessive Curve/Crossing Speed

Solution: Use Digital Map to detect sharp curves ahead, calculate maximum speed

Solution: Reduce speed or stop vehicle at crossings

ACC Issue: Set speed stays set unless driver change it

Solution: Identify Legal Speed Limit ahead; adjust ACC top speed according to the speed limit

Intelligent Adaptive Cruise Control

Evolution of the ACC

Cruise Control

+ radar Adaptive Cruise Control

+ map with ADAS attributes Intelligent Cruise Control

+ fuel optimization algorithms Green Cruise Control

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Use of digital maps with ACC – BMW platform

Application was launched in March 2005 in

BMW 3, 5, 6 series in Europe

Digital map integrated with Adaptive Cruise

Control

Maps used to adjust acceleration into three

classes, high middle and low acceleration.

Freightliner: Run Smart Predictive Cruise

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Freightliner: Run Smart Predictive Cruise

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Precision Instruments• Predicts the road ahead approximately one mile in front

of vehicle’s Immediate location

Driver-Free Controls• Invisible to the driver – functions with no distractions or

on-screen messages

• Same driver interaction as standard cruise control

• Works seamlessly with standard cruise control

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Fuel Economy and Emissions Reduction

35.72 36.73

LC CC

84.99 85.01

LC CC

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LC CC

fuel consumption [l/100km]

- 2.76 %

trip time [min]

- 0.03 %

number of gearshifts [-]

- 42.9 %

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BMW Dynamic Pass Predictor

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Adaptive Front LightingFront lights may project beyond the road, rather than into the curve

Wheel sensor-based implementation points lights along the current tangent to

the curve which is not sufficient lead

Control of beam elevation on slopes

Control of beam width and range in urban or rural

Conventional

Conventional

Map-Based Map-Based

Conventional

Map-based

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Map-Enabled and Map-Enhanced ADAS Applications

Non-map ADAS Applications

Do not need and can’t use digital map

Example: Park Distance Control (PDC)

Map-Enhanced ADAS Application

Can function without, but work better

with the digital map

Example: (Intelligent) ACC

Map-Enabled ADAS Application

Only possible with use of digital map

Example: Curve Speed Warning

In any given moment, only part of the Digital Map is required for the ADAS function – especially most probable

path ahead Electronic Horizon

Map Supported ADAS

Driver Warning Active Safety

Intelligent Cruise Control

Predictive Frontlight Sys

Roll-over alert

Lane Keeping Assistant

Electronic Stability Control

Adaptive Brake Systems

Driver Warnings & Alerts

Curve Speed Warning

Lane Departure Warning

Overtaking Assistant

Drowsiness Monitor

Vehicle Efficiency

Green Driving Assistant

Green ACC

Smart Transmission

Hybrid Power

Management

Positioning and usage based Applications

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Pay as you Drive InsuranceRoad User ChargingCongestion ChargingTelematics, E- / B-CallTraffic Probing / Fleet Management

ADAS Digital Map is a special Sensor

The ADAS digital map provides important road-based information on the Electronic Horizon

which is combined with other sensors or may be used independently

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Radar

Gyro

NAVTEQ Maps

GPS

Video

Lidar

Torque

What is an Electronic Horizon?1. Find current position

2. Find all possible paths

3. Calculate probabilities

4. Starting from current position,

follow highest probable path

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Electronic Horizon

Most Probable Path

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Electronic Horizon

Data structure containing:

Vehicle position – location with reference to the map and vehicle dynamics information.

Road network in front of vehicle including attributes – all potential driving paths from the current position up to a certain

depth.

Probabilites – the driving probability of each path

Route Information – optional route information to influence the driving probabilities dynamically.

Other names:

ADAS Horizon

ADASIS Horizon

Extended Driver Horizon

eHorizon

Organization

ADAS Interface Specification (ADASIS) Forum

Initiated by Navteq in May 2001

Goals:- Define an open standardized data model and structure to represent map data in

the vicinity of the vehicle position (i.e. the ADAS Horizon), in which map data are delivered by navigation and/or by a general map data server

- Define open standardized API(s) to enable ADAS applications to access the electronic horizon and position-related data of the vehicle

http://www.ertico.com/en/activities/safemobility/adasis_forum.htm#www.ertico.com/adasisforum

A.D.C. GmbH, AISIN AW, Alpine, Autoliv, Blaupunkt, BMW, DaimlerChrysler, Denso, Ford Research Center Aachen, Hella, Honda, Intermap Technologies, Michael Sena Consulting AB, Mitsubishi Electric Automotive Europe, Navigon, Navteq, Nissan, Opel, PSA, Renault, Robert Bosch, Scania, Siemens VDO Automotive, Tele Atlas, Toyota Motor Corporation, Visteon, Volkswagen, Volvo Technology Corporation (VTEC), Volvo Car Corporation, Zenrin Europe BV

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http://www.ertico.com/en/activities/safemobility/adasis_forum.htm

http://www.ertico.com/en/activities/safemobility/adasis_forum.htm

ProjectsEU PReVENT/Maps & ADAS project (2003-2007)

Develop, test and validate both:

- An applicable standard for gathering, certifying, maintaining and providing safety content enhanced digital map databases to be used in ADAS and Navigation Applications

- An applicable standard for an interface between ADAS and the in-vehicle map data sources (not necessarily navigation systems) for accessing map data around the vehicle position

Blaupunkt, BMW, Bosch, Daimler, Ertico, Ford, IVH, Siemens, Navigon, Navteq, Volvo, Transver, Teleatlas

Result: ADASIS v1 Protocol & API

ADASIS v2 Initiative (2008-2010)

ADASIS v1 too complex

Goal: To create simpler, more acceptable protocol

Navteq (coordinator), Bosch, BMW, Continental, Daimler, Ford, Opel, PSA, TeleAtlas

ADASIS v2 Horizon Reconstructor C-Implementation Task Force (Av2HR-C ITF; 2009-2010)

Goal: To develop Av2HR as Proof-of-concept

Result: ADASIS v2 Protocol & API (April 2010), Av2HR

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Architecture of ADAS system (e.g. AFL)

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•AFL module is located on the Head Unit

•AFL algorithm directly access EH via proprietary EH

API

•Since EH API is OEM-specific, AFL module need to

be adopted for each particular implementation of

Head-Unit

•Multiple EH-based application must be placed on the

same Head Unit


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•AFL module is located on the dedicated ECU

•Data required for AFL algorithm are extracted from

EH by AFL EH Provider

•AFL EH Provider sends necessary data over (CAN)

bus using AFL-specific protocol

•Minimum amount of data for the AFL on the bus

•AFL module takes and uses data directly from the

bus

•Since EH API is OEM-specific, having AFL module

on another platform is reduced to re-implementation

of the EH AFL Provider, but not whole modules

•Multiple EH applications must have its own provider

and protocols


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•AFL module is located on the dedicated ECU

•Head Unit sends generic Electronic Horizon data on the bus

using defined protocol

•BMW ADAS

•Audi PSD

•ADASIS v2

•Daimler, Ford, Opel/GM, …

•Genivi (?)

•EH Reconstructor on ECU “reconstructs” copy of the EH on

client side; apps can use defined EH API to access the data

•AFL algorithms access EH data via EH API

•Multiple EH applications use same Reconstructor, API and

data stream

ADASIS v2 Reference Architecture

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ADAS Horizon Provider

AD

AS

IS v

2

CAN Bus

AD

AS

IS v

2

ADAS

Application 1

ADASIS v2

Reconstructor

AD

AS

IS v

2

ADAS

Application 2

ADASIS v2

Reconstructor

AD

AS

IS v

2

ADAS

Application 3

ADASIS v2

Reconstructor

1. ADASIS v2 Horizon Provider (Av2HP) --

maintains the ADASIS v2 Horizon;

2. ADASIS v2 Protocol (Av2) -- defines how the

ADASIS v2 Horizon will be sent from the Av2HP to

the ADAS Applications;

3. ADAS Application -- a client application that

receives the ADASIS v2 Protocol messages then

reconstructs and uses the ADASIS Horizon;

• ADASIS v2 Reconstructor -- a common

component of ADAS Applications that is

built in accordance with this general

architecture. The task of the ADASIS v2

Reconstructor is to receive, parse and

interpret ADASIS v2 Protocol messages,

and, in effect, reconstruct a copy of the

ADASIS v2 Horizon on the client side.

ADASIS v2 in Action

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ADASIS v2 Protocol

Skip

Categories of the Electronic Horizons

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ADASIS v2 Horizon

Optimized Path Representation

Network RepresentationPure Path RepresentationDigital Map

Types of ADASIS v2 Horizons

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Path 2

Path 2Stub

Stub

Stub

Path 2

Path 1

Path 3

Path 4

Stub

Stub

Stub

Path 2

Path 1

Path 3

Path 4

Stub

Stub

Stub

Path 5Stub

Full Horizon

Single Path

with sub-paths

Single Path

with stubs

Single Path

Positioning of entities on ADASIS v2 Horizon

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Position = Path Identifier + Offset

ADASIS v2 Horizon Building Blocks

Path – entity container

Possible trajectory of the vehicle

Uniquely identified by Path Identifier

Entities positioned on Av2 Horizon using Path Identifier and Offset

STUB – denotes start of the path; contains parent Path Identifier and Offset on the parent path where new

path starts

POSITION – position of the vehicle (Path Id+Offset)

Profile – attribute of the path

Traffic Sign, Number of Lanes, Curvatures, …

Location of attribute defined by Path Identifier and Offset

PROFILE SHORT – attribute values can fit to 10 bits

PROFILE LONG – attribute values can fit to 32 bits

SEGMENT – encapsulates most important attributes for a part of path

META-DATA – auxiliry information about the Av2 Horizon

Speed Limit Units, Driving Side, …

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ADASIS v2 Protocol

6 message types for CAN protocol (but can be implemented on other buses too)

POSITION message specifies the current position(s) of the vehicle

- Up to 4 position candidates supported

STUB message indicates the start of a new path that has origin at the existing one

- Up to 58 paths can be maintained in protocol concurrently

SEGMENT message specifies the most important profiles of a part of the path

- 12 profiles

PROFILE SHORT message describes attribute of the path whose value can be expressed in 10 bits

- 15 standard, 16 system-specific profiles ; arbitrary interpolations supported

PROFILE LONG message describes attribute of the path whose value can be expressed in 32 bits.

- 15 standard, 16 system-specific profiles; arbitrary interpolations supported

META-DATA Message contains utility data.

Each message can, but not need to, have separate CAN identifier

Need at least 1 CAN Id, up to 66 (POSITON+STUB+SEGMENT+META_DATA+62*PROFILE SHORT/LONG)

Allows different multiplexing configurations, including AUTOSAR conformance

Designed for 10 CAN frames/sec; need minimum 2 CAN frames/sec; no upper limit

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Example: PROFILE SHORT message

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Always 4 Type of the PROFILE

Path index where profile is located

Offset along the path where profile has the first value

(left boundary offset)

First profile value (left

boundary value)

Distance from left boundary offset to the second value offset (right boundary relative offset)Second profile value

(right boundary value)

Cyclic counter for error detection Update flag

Path Attributes Profiles

Values of single link attribute change along the path forming path profile

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0

5

10

15

20

25

30

35

40

45

0 25 50 75 100 125 150 175 200 225 250 275 300

s [m]

v [m

/s]

Speed Profile

PROFILE SHORT

Type=Speed Limit

Path=?

Offset=0

Value=100

PROFILE SHORT

Type=Speed Limit

Path=?

Offset=100

Value=50

PROFILE SHORT

Type=Speed Limit

Path=?

Offset=200

Value=100

Path Profiles – Bandwidth or Robustness

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Bandwidth:

2 messages for 3 intervals

Robustness:

3 messages for 3 intervals

Path Profiles - Interpolations

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Step Interpolation Linear interpolation

By adding control points to the profile

interval, any other interpolation type

is supported.

For instance, second-degree

polynomial interpolation.

Standardized profiles

SEGMENT message

Functional Class

Form of Way

Effective Speed Limit/Type

Number of lanes (both directions)

Tunnel

Bridge

Divided Road

Built-up Area

Complex Intersection

Part of calculated Route

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PROFILE SHORT (10-bit values)

Curvature/Radii

Route Number

Slope

Road Accessibility

Road Condition

Variable Speed Sign Position

Heading Change

PROFILE LONG(32-bit values)

Longitude

Latitude

Reserved 7 PROFILE SHORT and 13 LONG types

Allows 16 system-specific PROFILE SHORT types and 16 LONG types

Reconstructing the Horizon: SEGMENTs & STUBs

ADASIS v2 Horizon Reconstructor

ADASIS version 2 Horizon Reconstructor (MISRA-C

implementation) was developed as common effort of the several

companies that formed Implementation Task Force (Av2HR-C ITF).

AV2HR-C ITF Goals

Refine ADASIS v2 Specification

Develop proof-of-concept Av2HR that can be used as base for

commercial implementations

ADASIS v2 API is public

Source code available to ADASIS Forum Members;

including MatLab/Simulink support for dSPACE and xPC systems

In scope of the project, several Av2 Horizon Providers were

developed (e.g. NAVTEQ ADASRP Av2 Plug-Ins)

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ADAS Horizon Provider

AD

AS

IS v

2

CAN Bus

AD

AS

IS v

2

ADAS

Application 1

ADASIS v2

Reconstructor

AD

AS

IS v

2

ADAS

Application 2

ADASIS v2

Reconstructor

AD

AS

IS v

2

ADAS

Application 3

ADASIS v2

Reconstructor

Two Modules and Three APIs

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1. Message Codec API (MC-API)

2. Event API (Ev-API)

3. Data Store API (DS-API)

1. Message Codec• Decodes messages and takes care

about path index/path id conversion and

offset conversions

2. Data Store• Reconstructs and keeps track of

ADASIS v2 Horizon

Data Store API

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• Application access to ADASIS v2

Horizon

• 4 main functions

• 7 meta-data functions

• 1 auxiliary function

Event API

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• Message Codec notifies application

about new building block of

ADASIS v2 Horizon (Vehicle

Position, Stub, Profile, …)

• 5+1 function

Message Codec API

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• Communication interface notifies

Message Codec about arrival of

new CAN frame

• 1 function

DS-API Example

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ADASIS v2 in Genivi

System shall expose the following interfaces:

ADASIS v2 Event API

Base for ADASIS v2 Protocol Generator for

CAN

Base for ADASIS v2 Data Store that will

provide API for embedded ADAS

applications

ADASIS v2 Datastore API

To be used by embedded ADAS

applications

ADASIS v2 CAN Protocol

To be used by ADASIS client applications

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ADASIS v2 in Genivi

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ADASIS v2 in Genivi – But why … !?

Map-enabled/map-enhanced ADAS slowly but surely finds its place in modern cars

BMW 7: Speed Limit Warning

Audi A8: Adaptive Front Lighting

Future developments: Ghost Driver Warning, Curve Speed Warning, Intelligent ACC,

Green Driving, …

ADAS applications will play even more important role in HEV and FEV, where every

Watt counts

Insurance companies discovered ADAS-type of applications (Pay-as-you drive)

ADAS as extension of Navigation System most important differentiator between in-dash

and PND and other mobile devices

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