fast-tracking advanced driver assistance systems and ... · sensor modeling hardware simulation...
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1 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Fast-Tracking Advanced Driver Assistance Systems and Autonomous Vehicles Development with Simulation
AESIN 2017 October 3rd - Birmingham
Xavier Fornari – Product Manager – ANSYS SBU ([email protected])
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2 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Outline
• ANSYS & System Business Unit Overview
• The increasing complexity of car systems
• Digital Simulation
• Model-Based Engineering and Certified Code Generation
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3 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
ANSYS & System Business Unit Overview
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4 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
*BusinessWeek, FORTUNE
ANSYS: World’s Leading Engineering Software Provider
FOCUSED This is all we do. Leading product technologies in all physics areas Largest development team focused on simulation and embedded software
CAPABLE 2500+
75
40
employees
locations
countries
TRUSTED
FORTUNE 500 Industrials
96 of the top 100
ISO 9001 and NQA-1 certified
PROVEN Recognized as one of the world’s MOST INNOVATIVE AND FASTEST-GROWING COMPANIES*
INDEPENDENT Long-term financial stability
CAD agnostic Based on standards
LARGEST
3x The size of our nearest competitor
STRONG
45000+ CUSTOMERS in a every major industry segment
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5 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
ANSYS Simulation Platform Overview Towards a Complete Systems Simulation
PLATFORM MULTIPHYSICS
FLUIDS STRUCTURES ELECTRONICS EMBEDDED SOFTWARE
SEMI CONDUCTORS
SYSTEMS
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6 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
The increasing complexity of car systems
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7 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Cars: Increasing Complexity
• ECUs: > 100
• Software Size: 100 Mi LOC
• Multiple integrated Networks
• Sensor Fusion & Surround Sensing
• Increasing # of Variants
• Etc.
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8 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
From Advanced Driver Assist Systems to the Self-Driving Vehicle
Source: Continental
Reference: http://safety.trw.com/autonomous-cars-must-progress-through-these-6-levels-of-automation/0104/
• Adaptive Cruise Control (ACC) • Forward Collision Warning (FCW) • Collision Mitigation Braking (CMB) • Lane Departure Warning (LDW) • Blind Spot Warning (BLSW) • Lane Keeping Assistance (LKA) • Pedestrian Avoidance (PA) • Intelligent Headlight Systems (IHS) • Cooperative Driving Systems (CDS)
• Self-driving is more than a collection of ADAS • Huge complexity
• Safety is reinforced • Sensors/Actuators must work • Software must work
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9 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
A Car is a Complex System…
Electronic Control Units
Operating Conditions
Embedded Software
Safety Requirements
Actuators
Operational Profiles
Electric Drives
Sensors
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10 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
….With Complex Interactions
Sensors Operating Conditions
Actuators
Operational Profiles
Electric Drives
Safety Requirements
Electronic Control Units
Embedded Software
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11 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Nearly every automotive E/E-System is Safety related
• Electric Drivetrain – Battery Overcharging -> Fire
– Blocking Wheels -> Rear Crash
• Autonomous Driving – Misinterpretation of Crossing Situation -> Front Crash
• Advanced Driver Assistance Systems – Non Recognition of Obstacle -> Accident
– False-positive Recognition of Obstacle -> Rear Crash
• Active & Passive Safety Systems – Unintended Airbag Deployment -> Loss of Car Controllability
– Unintended Braking (by Multi-collision Braking System) -> Rear Crash
• Connected Car, V2V, V2I – Smart Phone issued Car Move (Car Parking) -> Pedestrian Injury
– Smart Phone controlled unintended Seat Movement -> Driver Distraction
Source: Land Rover
Source: digitaltrends
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12 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
For autonomous Driving: Validation and Testing Challenges
Akio Toyoda, President of Toyota @ Paris Auto Show
“It is estimated
that some 8.8
billion miles of
testing, including
simulation, are required”
Image Source: Wikipedia Creative Commons
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13 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Cost of ISO 26262
• Cost of activities is increasing quickly, starting at ASIL B • ASIL D is > 200% versus non certified development
Functional Safety & Security
Overall System Performance Optimization
Physical Validation Costs
Reduction
Embedded Software Costs
Reduction
Design Complexity
Management
Digital Simulation coupled with Model-Based Engineering and Certified Code Generation can answer to the challenge
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14 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Digital Simulation
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15 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Autonomous driving technology – a control loop
Physical World
Sensors
Controllers
Actuators
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16 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
• 3D road and landscape model • 3D models of stationary and moving objects • Object sensory attributes (e.g. radar reflectivity) • Object motion definition • Motion simulation in time domain
Drive Scenario Model Creates a model of the virtual world and animates motions of the test car and other objects in a test drive
Simulation of autonomous vehicle control loop
Courtesy: Mechanical Simulation Corp.
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17 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
• Sensing simulation • Signal processing
• 3D road and landscape model • 3D models of stationary and moving objects • Object sensory attributes (e.g. radar reflectivity) • Object motion definition • Motion simulation in time domain
Drive Scenario Model Creates a model of the virtual world and animates motions of the test car and other objects in a test drive
Sensor Models “Observe” the surroundings in the virtual world of the drive scenario model and output processed sensor signals
Radar Lidar V2X
GPS Ultrasonic Sensors
Simulation of autonomous vehicle control loop
Cameras PMD
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18 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
• Sensing simulation • Signal processing
• 3D road and landscape model • 3D models of stationary and moving objects • Object sensory attributes (e.g. radar reflectivity) • Object motion definition • Motion simulation in time domain
Drive Scenario Model Creates a model of the virtual world and animates motions of the test car and other objects in a test drive
Sensor Models “Observe” the surroundings in the virtual world of the drive scenario model and output processed sensor signals
Radar Lidar V2X
GPS Ultrasonic Sensors
Simulation of autonomous vehicle control loop
Cameras PMD
• Software Lifecycle, Models Based Development Software Testing, Code Generation
• ISO26262, Functional Safety
Signal Proc. & Sensor Fusion Identifies objects and driving conditions from sensor data
Control Algorithms and HMI Makes main control decisions; Displays critical information and decisions to the driver
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19 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
• Sensing simulation • Signal processing
• 3D road and landscape model • 3D models of stationary and moving objects • Object sensory attributes (e.g. radar reflectivity) • Object motion definition • Motion simulation in time domain
Drive Scenario Model Creates a model of the virtual world and animates motions of the test car and other objects in a test drive
Sensor Models “Observe” the surroundings in the virtual world of the drive scenario model and output processed sensor signals
Radar Lidar V2X
GPS Ultrasonic Sensors • Vehicle mechanical model • Sub-models for vehicle attributes
Vehicle Dynamics Model Computes position, velocity and orientation of test vehicle
• 3D models of vehicle components • Detailed Multiphysics simulation
Vehicle Component Models Uses actuator inputs and computes response of vehicle sub-systems such as brakes and steering
Simulation of autonomous vehicle control loop
Cameras PMD
• Software Lifecycle, Models Based Development Software Testing, Code Generation
• ISO26262, Functional Safety
Signal Proc. & Sensor Fusion Identifies objects and driving conditions from sensor data
Control Algorithms and HMI Makes main control decisions; Displays critical information and decisions to the driver
Courtesy: Mechanical Simulation Corp.
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20 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
• Sensing simulation • Signal processing
• 3D road and landscape model • 3D models of stationary and moving objects • Object sensory attributes (e.g. radar reflectivity) • Object motion definition • Motion simulation in time domain
Drive Scenario Model Creates a model of the virtual world and animates motions of the test car and other objects in a test drive
Sensor Models “Observe” the surroundings in the virtual world of the drive scenario model and output processed sensor signals
Radar Lidar V2X
GPS Ultrasonic Sensors • Vehicle mechanical model • Sub-models for vehicle attributes
Vehicle Dynamics Model Computes position, velocity and orientation of test vehicle
• 3D models of vehicle components • Detailed Multiphysics simulation
Vehicle Component Models Uses actuator inputs and computes response of vehicle sub-systems such as brakes and steering
Simulation of autonomous vehicle control loop
Cameras PMD
• Software Lifecycle, Models Based Development Software Testing, Code Generation
• ISO26262, Functional Safety
Signal Proc. & Sensor Fusion Identifies objects and driving conditions from sensor data
Control Algorithms and HMI Makes main control decisions; Displays critical information and decisions to the driver
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21 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
ANSYS Autonomous Vehicle Simulation Platform
Control & HMI Software
Functional Safety
System Simulation
Sensor Modeling
Hardware Simulation
Simulate driving scenarios with detailed physics. Virtually test control
algorithms, sensor accuracy and vehicle dynamics
Optimize signal integrity and thermal, structural, electro-
magnetic reliability of semiconductors, electronics and mechanical hardware
Develop ISO 26262 qualified, AUTOSAR compliant control
and HMI software with model based development tools
Ensure safety of automated systems by providing state-of-
the-art reliability analysis methods, using simulation for
verification
Accurately model radars, lidars, V2X communication,
GPS antennas, ultrasonic and other sensors with high-
fidelity physics
Integrated development with a common platform Faster development Better optimized overall product Cost economy Better quality
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22 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Simulation of autonomous vehicle control loop
Embedded Control / SW ABS, speed, obstacle
detection
Head up Display
ABS actuators & valve
Driving scenario
Radar ROM from 3D
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23 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Simulation of autonomous vehicle control loop
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24 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Model-Based Engineering and Certified Code Generation
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25 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
ISO 26262 Impact on Development Activities
Reviews of artifacts, results
6-6 Specification of
software safety
requirements
6-7 Software
architectural design
6-8 Software unit
design and
implementation
6-9 Software unit
testing
6-10 Software integration
and testing
6-11 Verification of
software safety
requirements
Software unit design
Software implementation
4- 7 System Design 4-8 Item Integration and
testing
Traceability, 100% coverage
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26 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
MBSE and Certified Code Generation
6-6 Specification of
software safety
requirements
6-7 Software architectural
design
6-8 Software unit design
and implementation 6-9 Software unit testing
6-10 Software integration
and testing
6-11 Verification of software
safety requirements
Software unit design
Software implementation R
medini
25%
25%
>80%
>50%
>80%
>60% Reviews
• MBSE helps having better designs, easier to review • Certified Code Generation: require Tool Qualification, and provides important gains • SCADE: only COTS developed following the standards.
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27 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
ANSYS Systems & Embedded Software Capabilities
SW Design
Auto
Ada C
Automatic code generation
Auto Auto
System & SW Architecture
System Safety Analysis
System Architecture
System Requirements
Software Requirements
Simulation
Test
System Simulation & Digital Twins
Simplorer
MiL & PiL testing
Auto
Integration toolbox Multi-rate / Multi-core
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28 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Enhanced Autonomous Vehicle Control Loop
Environment
Hardware
Perception
Planning Control / Execution
Software
Environment model Vehicle position
Action
Data
Command
Sensors
Actuators
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29 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Enhanced Autonomous Vehicle Control Loop Challenges
• Challenges
− Lack of controllability (no driver) implies high ASIL
− Difficulty to establish traceability from Machine Learning/Deep Learning models and extremely complex requirements
• A possible solution: the “Command-Monitor” Architecture
− Safety is controlled by the monitor
− Monitor is developed using best practices for high-integrity software: MBSE, Safety Analyses, certified code generation
ASIL C-D
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30 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Our Vision To Validate Machine Learning Algorithms
ANSYS Simulation Platform (HFSS, SBR+, Simplorer, HPC and ROMs)
CNN-based Embedded Software within SCADE
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31 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Conclusion
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32 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
6-6 Specification of
software safety
requirements
6-7 Software architectural
design
6-8 Software unit design
and implementation 6-9 Software unit testing
6-10 Software integration
and testing
6-11 Verification of software
safety requirements
Software unit design
Software implementation
4- 7 System Design 4-8 Item Integration and
testing
Improving all Development Phases
Initial system view
Early concepts
and analysis
Safety analyses
Model-based environment
State of the art analyses
Model-based
System Engineering
Synchronized with
Safety architecture
Architecture – Design
synchronization
Dedicated model-based
environment for embedded
applications
ISO-26262 Certified code
generation (TCL3 tools)
Functional validation on
desktop with interactive
simulation/debug
Structural coverage (ASIL D)
Reuse of tests on target
Safety support at all steps
Traceability of all artefacts
Automatic code generator developed following ISO 26262
standard:
No need to verify code against specification (design)
Functional unit testing on code dramatically reduced
or suppressed
Integrated system view Realistic 3D models
ROMs
Embedded software
Performance analyses
Interaction analyses
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33 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Digital Simulation and MBSE Benefits Summary
Time-to-Market Speed up 2X
Development and Safety Analysis Costs Reduction 50%
Best Practices for:
• Model-Based Systems Engineering
• System Safety Analysis
• Integrated Multi-physics and Software Simulation
• Embedded Controls development
• Interactive Displays development
Product
Development and
Safety Analysis
Process
Improvements
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34 © 2017 ANSYS, Inc. October 10, 2017 ANSYS Confidential
Thanks you!