Realizing Automated Driving Systems using Ethernet TSN and ... · Realizing Automated Driving Systems using Ethernet TSN and Adaptive AUTOSAR ... trajectory control trajectory environment

Realizing Automated Driving Systems usingEthernet TSN and Adaptive AUTOSAR

Prathap Venugopal

IEEE-SA ETHERNET & IP @ AUTOMOTIVE TECHNOLOGY DAY 2017, November 1-2, 2017 – San Jose, CA, USA

Agenda

n Automateddrivingcommunicationneedsn EthernetTSNstandardn IntroductiontoAdaptiveAUTOSARn Proposalonrealizingthemtogethern Benchresultssofarn Concludingremarks

IEEE-SA ETHERNET & IP @ AUTOMOTIVE TECHNOLOGY DAY 2017

ADAS&AutomateddrivingCommunicationneeds

n Guaranteed,lowendtoendlatencyn Faulttolerancetocommunicationlink/nodefailuresn TimeawarenessandSynchronizationtoglobalclockn Preventnetworknodestofloodthemedian Secureddataexchange

Standardized implementations are preferred!


TSNisakeyenablerforautomateddriving

http://www.ieee802.org/802_tutorials/2017-07/tutorial-Automotive-Ethernet-0717-v02.pdf

http://standards.ieee.org/events/automotive/2015/05_Ethernet_TSN_as_enabling_technology_for_ADAS.pdf


RealizingEthernetTSNinanetwork

IEEE standard Whatdoesitdo Who willimplement

P802.1AS-Rev– NetworkTimesynchronization

Synchronized Timebaseforallnodes SwitchandEndstations(itsfirmware/hostCPU)

802.1Qci– Ingresspolicing Eliminate thebabblingstreams SwitchorMAC forendstations

802.1CB – SeamlessRedundancy Filteringredundant traffic Switch,(proxymode)

P802.1Qcr – AsynchronousTrafficShaping

Asynchronous trafficscheduling Switch+Hostcontroller

802.1Qbu/802.3br – FramePreemption

Betterbusutilization Switch +Hostcontroller

802.1Qch – Cyclicqueuingandforwarding

Reducelatency bySynchronizeddatatransmission

Switch +Hostcontroller

Switch manufacturers are onboard, how about standardized software?


TechnologicalAlignment

ETHERNET is one of the KEY Technology drivers for Adaptive

AUTOSAR!!!

AUTOSAR Classic alreadysupportsEthernet!!


What's new inAdaptiveAUTOSAR?

Backend SystemsRoad-Side Infrastructure

InternetETSI

C

C

N

A A

Classic

M

IVI / COTS(Non-AUTOSAR)

N

Adaptive

Expected total number of ECUs: 1205 - 10 domain controllers will run with Adaptive platform

AUTOSAR_EXP_PlatformDesign.pdf


environmentsensorscamera,radar,lidar,…

environment,driverstateandvehiclestateperception

maneuver- andtrajectoryplanning

trajectorycontrol

trajectory

environment and state model

inertialsensors,odometry,GPS,…

authority,OEM,map,…viabackend

C2C/C2I

safetyfunction

A

C

SampleAutomatedVehicleSystemArchitecture



Classic AUTOSAR node

Adap

tive

AUTO

SAR

nod

e

A

C

Adaptive AUTOSAR Node

Classic AUTOSAR Node

AUTOSARRuntimeforAdaptiveApplications- FunctionalClusters

LanguagespecificAPIsaspartofARA

ServicesprovidedviaCommunicationARAAPI

APIsandservicesexposedtoapplicationsbyfunctionalclusters

AUTOSAR Runtime for Adaptive Applications

Adaptive AUTOSAR Foundation

(Virtual) Machine / Hardware

Adaptive AUTOSAR Services

Software Configuration Management

Service

Security Management

Service

Diagnostics

Service

Bootloader

Operating system

API

Execution Management

API

Persistency

API

Platform Health Management

API

Logging and Tracing

API

Hardware Acceleration

API

Other Functional

clusters

API

Communication Management

API

ApplicationApplicationApplicationApplicationApplication




Communications

AdaptivePlatform– TechnicalArchitecture(Communication)

Adaptive Application

EthernetDriver

TCP/IP

SOME/IPTransport

IPCTransport

IPC

DispatchingandDiscovery

PublicInterfacePartoftheadaptiveAUTOSARAPIandspecifiedintheSWS.

ProtectedInterfaceInteractionbetweenfunctionalclusters.Notnormative,intendedtomakespecificationmore readableandtosupportintegrationofSWintodemonstrator.

PrivateInterfaceInteractionbetweenelementswithinafunctionalcluster.Notusedinspecifications,butmaybefor

C++11LanguageBinding

ARA API

network


API

AVB/TSN for Traffic management and 802.1AS Time Sync are preferred


RealizingTSNinAdaptiveAUTOSAR– aProposal


Communications

Adaptive Application

EthernetDriver

TCP/IP

SOME/IPTransport

IPCTransport

IPC

DispatchingandDiscovery

C++11 Language Binding

ARA API


API

EnhancedEthSwitchDriver

EnhancedEth TimeSync

SynchronizedTime BaseManager

CAN/FDTimeSync

CANDriver

Extensions to adaptive AUTOSAR R17-03

Stbm might be required when CAN/CAN-FD support included in Adaptive AUTOSAR R17-10

FT-Security is working on the Secure Communication concept including Authentication and encryption


802.1AS-Rev Support

TimeSync is already a topic in FT-CM Subgroup

EnhancedEthernetTimeSynchronizer

n SupportRedundancy,redundantpathsn Configurationforstatic,redundantgrandmastersn FasterResynchronizationconvergenttime.n Multi-Clockdomainsupport(AlreadysupportedinAUTOSAR

classic)n ConfigurationsupportforRing

API

EnhancedEthernet TimeSynchronizer

SynchronousTimeBaseManager

EnhancedEthernet

SwitchDriver


EthernetSwitchDriverextension

n HostcontrollerusesEthernetswitchdrivertoconfiguretheswitch

n ThisshallofferConfigurationsupportfortheTSNprotocolfeatures;e.g.● Staticstreamreservation,switchforwardingtables● Perstreamingressmeteringlimits● Frameduplicationpathandredundancyfailureaction● Andmanymore..

API

EnhancedEthernet TimeSynchronizer

SynchronousTimeBaseManager

EnhancedEthernet

SwitchDriver


ADASController

LongRangeRadarCamera

Eth Et

h

ADASBackup

Eth

Eth

Eth BreakControl

Module

CAN

TesterEth

AdaptiveAUTOSAR

ClassicAUTOSAR

802.1CB

Conceptevaluationbenchsetup


802.1 Qci 802.1 AS-Rev 802.1 AS-Rev

802.1 AS-Rev

802.1 AS-Rev

AdaptiveAUTOSARBenchresultsAP17-03

n LearningsfromAUTOSAR17-03Release(GM-ITKprojectdemonstrator)● DemonstratedvalueofLinux/open-sourceecosystemforimageprocessing,machinelearning,etc.(e.g.,OpenCV)

● Demonstratedusageofdynamicmemorymanagement● Demonstrateddynamicapplication/processupdate● SOME/IPworksgreatforServiceDiscovery,butisn’tsufficientforlargedatatransfer(e.g.videostreams).Workaround:TCP/IP


Conclusion

n TSNisengineeredtosatisfytheAutomateddrivingsystemscommunicationrequirements

n SwitchvendorsseemsveryinterestedinprovidingvariantsinTSNtosupporttheAutomotivemarketneeds

n AdaptiveAUTOSARcurrentlydoesn’tspecifyTSNsupport.ButwebelieveitispossibletoadaptTSNwithinitsfunctionalclusters


Questions?

ThankYou!

n Acknowledgements● SoheilSamii,ThomasE.Fuhrman,MikePotts,AbuzaforRasal● https://www.autosar.org/standards/adaptive-platform/release-17-03/


Documents

Realizing Automated Driving Systems using Ethernet TSN and ... · Realizing Automated Driving Systems using Ethernet TSN and Adaptive AUTOSAR ... trajectory control trajectory environment