V0.1 | 2019-09-30

Yuchen Yang – Vector North America

ADAS Data Logging Solution

ADAS Logging & Analysis Components

ADAS Logging Solution – Overview

ADAS Logging, Visualization and Analysis Software

ADAS Logging Hardware and Sensor / Fusion ECU Hardware

Data Management

2

XCP-based Systems

Analog Sensors (pressure, accelerometer …)

GPS / IMU (GeneSys ADMA …)

Vehicle Networks (CAN/CAN-FD, Ethernet …)

Radar (RAW Data, XCP, proprietary)

LIDAR (IBEO, Quanergy, Velodyne, Hesai…)

Context/Reference Cameras

Vehicle Cameras (LVDS-based, RAW Data …)

Scalability – Sensors and Networks

ADAS Logging Solution – Sensors and ECUs

3

GPS/IMUUTC/TAI Time Support

Front Radar

Vehicle Cam

4 x Corner Radar

POD

Logging System Setup Example

ADAS Logging Solution – Typical System Setup

Eth Interface

CANape / CANape log

RECRAW Data

RECRAW Data

TAPI Data

REC

RECCAN FD

Auto.Eth.

CANape / CANape log

REC

VX113X

.

..

VX113X

.

....

REC

REC

REC

CANape Configuration

POD

RECAXIS

Camera

Mobile UI

Fusion ECU

POD

VX113X

.

.

.

ABS/ESP

Std. Eth (gPTP)Vehicle NetworkUSBHSSL2

User Interface

Timesynced Logger-Cluster

LAN/ WLAN

4x Context CAMH.264

REC LiDAR

LiDAR

4

ADAS Logging Solution – Sensors and ECU interface

Radar: XCP-Data + 1 or 2 x RIF Data (Radar-Raw Data)

2.5 GbitAURORA 2 x 2.5 Gbit

HSSL2 CableVX143x

POD

2 x 1 Gbit Eth.

Core 0

Core 1

Core 2 VX1134/1135

.

....

CANape

Infineon /NXP / STM/ Renasas

/ TI

4 x 400 Mbit RIF Raw Data

(optional 8 x 400 Mbit RIF Raw Data)

Port xxxx: RIF Raw Datai.e 80 MByte/s

Port yyyy: ECU internal Datai.e. 40 MByte/s

5

Radar

...

Multi Base Module + Camera Interface

ADAS Logging Solution – Sensors and ECU interface

Support up to 6 ECU with different interface

Support up to 4 LVDS Cameras Logging

Multiple CAN Interfaces + Multiple 10 Gbit / 1 Gbit Ethernet Port

6

ADAS Fusion ECU Combined PCIe + IFX Aurora POD Approach

ADAS Logging Solution – Sensors and ECU interface

5 Gbit PCIe

5 GB/sHSSL2 Cable

1 x 2.5 Gbit/s Aurora/DAP2

VX1461 POD

1 x FR A+B

5 x CAN-FD

SGMIIEth.#

ECU Interfaces:

uC: DAP2/Aurora

DAS Concept for Dynamic Address

uP PCIe

5 x CAN-FD / 1 x FR A/B

1 x 100BaseT1 Auto.Eth.

1 x 100 BaseT1

CANape

7

Context-Cameras

ADAS Logging Solution – Context / Reference Camera

4:1 Video Encoder + Audio> H.264 Hardware Compression

> Configured in CANape

Image Based Camera Calibration

CANape Configuration Visualization

4x Context CAM H.264 + Micro

CANape / CANape log

Birds Eye View

Graphical object overlay

8

ETH: 10 Gb/s

ETH: 1 Gb/s

ADAS Logging Solution – Sensors and ECUs

MobileEye DHPR (Slave PC)

Time-Master: Time to Frame – Counter handling

Time-Slave

IMAGE

Frames

TAPI

Validator

TAPIFrames

TAPI

Parser

10GbE Eth. PC uplink port

1GbE Eth. port for simple configuration

EyeQ

LVDS

Eth Interface

Object data on CAN FD or BR

RECCAN FDAuto.Eth.

Video interface and CANape DHPR for LVDS-based Camera

MobileEye DHPR (Master PC)

4 Channel Serial Link Device

Modular concept for easy sensor adaption

CANape Configuration Visualization

9

Engineering Mode

ADAS Logging Solution – Software (Visualization)

Manual Start /StopSystem Status

Configurable minimized user interface

Showing only relevant information likeremaining recording time, system status…

GPS map position drawing with Overlays

Simulink

Model ViewerSignal

displays

Calibration Parameters

Diagnostic

Console

CAN,LIN,FR,Eth. /CCP,XCP Trace

Bird’s Eye View & Videowith Overlay

Remote Monitor Mode

10

Distributed Measurement Files As Contiguous Measurement

One measurement configuration with

two or more parallel running recorder

split files by trigger, time or size rules

ADAS Logging Solution – Software (Data Recording)

Measurement TimeStart

Independent of parallel or time split recording

The entire measurement is loaded identified by ID

Continuous recordingRecorder_One

Recorder_Two Triggered

MDF 1.1

MDF2.1

MDF 2.2

MDF 2.3

1 channel2

Name

2 channel1

[0s, 25.027781s]

2s(400ms)/Div

-5

0

5

10

15

0s 2s 4s 6s 8s 10s 12s 14s 16s 18s 20s 22s 24s

MD F1.1

MD F

2.1M DF

2.2

MDF2.3

Benefit

Focus on your measurement not on the files in CANape

Measurement

Data

Measurement ID

Recorder ID

11

Automated Data Analysis: DataMining Workflow

ADAS Logging Solution – Software (Data Analysis)

Select Function or Simulink.dll or Function.dll

Execute Datamining=> Generate Hits

PDF Report

12

Data Transport

ADAS Logging Solution – Data Transportation

Take outSSD Storage Bay

Storage Server

Send HDDStorage Bay

copy HDD in

storage center

Copy over

2 x 10 Gbit

Send brick Storage Bay to data center

CopySSD to HDD

Testvehicle

Proving ground facility

Data center location

13

15 © 2019. Vector North America Inc. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V0.1 | 2019-09-30

Author:Yang, YuchenVector North America

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www.vector.com