GNSS in Autonomous Vehicles

MM VisionMM Technology Innovation

Automated Driving Technologies (ADT)

Evaldo Bruci

March 2017

MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential 2March 2017

Context & motivation

Within the robotic paradigm

Magneti Marelli chose Think & Decision as the key item for study,

development, prototyping, product planning

Our framework platform is called:

Cognitive Fusion Framework (CFF)

VDe1.0

SmartSensor

SmartSensor

ActuationSmartSensor

Smart Sensor

SmartSensor

Automated Driving: Architecture

3

VDe2.0

Sensor

Sensor

ActuationSensor

Sensor

Sensor

Distributed CentralizedMixed

MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential March 2017

2015 2017 20182016

From perception to movement

4

Perception Layer

Decision Layer

Actuation Layer

Data Fusion Layer

Sensor Fusion Layer

Planning & Decision

(Action & Path)

Vehicle Control

Cognitive Fusion Framework Perimeter

Data Fusion

Environmental

Awareness

Behavioral

Prediction

Maps & Positioning

GPS IMU

Visual Odometry

Maps

Sensor Fusion

Lidar

Camera

Radar

Ultrasounds

[Ref. JDL Model]

MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential March 2017

5

Sensor &

Data Fusion

Environment

Awareness

Behavioral

prediction

MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential March 2017

Fusion to create an environmental model

Source: http://spectrum.ieee.org/cars-that-think/transportation/self-

driving/google-autonomous-cars-are-smarter-than-ever

Decide if and how to move

6

Path Planning

Action Planning

Keywords

Risk Assessment

Deep Neural Networks

Keywords

Trajectory estimate

MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential March 2017

ComfortFuel EfficiencySafety

Localize with high precision

7

HD Maps Lane detection/visual map matching

MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential March 2017

Precise GNSS Precise Inertial sensorsMap Manager

&

Precise Positioning

8

Magneti Marelli PoC demonstrated in 2016

Highway use case

Automatic Valet Parking use case

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

9

Magneti Marelli PoC under development

Urban use case

Long distance Highway use case

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

Precise Positioning - Precise map: Function

10

Positioning+map must:

It must works in fusion with the whole system.

But in failure mode it must be able to work alone.

Guarantee navigation

among the parking spaces

in automatic valet parking

Guarantee lane keeping

in motorway, highway

and city boulevards

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

11

Precise Positioning – Precise map: Target accuracy

Target accuracy: Positioning accuracy :

● 20 cm

Cartography accuracy:

● 20 cm max error on node coordinates

Strategy for achievemnt: Positioning accuracy :

● Accurate sensors

● Well designed sensor fusion

● GNSS Ultra tight integration

● GNSS PPP – RTK

● Visual Map Matching

Cartography:

● Work on requirements with suppliers

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

12

GNSS – Phase detection

Strategy Pro’s Con’s

PPP • Function suitable for

automotive

• Subscription price not yet at

automotive level

• Receiver price not yet at

automotive level

RTK • Require additional

communication channel

• Low-zero price available,

but not world wide spread

• Receiver price not yet at

automotive level

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

13

GNSS – Cost consideration

Reasonable autonomous car price 30-50 Keuro

The cost of a GNSS with phase detection capability is still

between 1 and 10 KEuro

COST IS THE BLOCKING FACTOR

Automotive cost is the key issue for GNSS

success in autonomous driving

• Receivers

• Services

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

14

The strategy is cooperation with suppliers: GNSS engine suppliers

PPP – RTK corrections providers

Points to be exploited : Accurate definition of the products specification’s

Advantage of automotive level mass production

GNSS – Cost consideration

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

15

Precise Positioning – Ultra tight integration

Highly promising in terms of GNSS reliabilty/Integrity

Accuracy increase is espected

No added cost in the final product

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

16

Precise Positioning – Visual map matching

An autonomous vehicle must have Cameras/Laser scanners

No added cost in the final product

March 2017MM-TI-Automated Driving Technologies Magneti Marelli proprietary and confidential

Thank you

March 2017