FUNCTIONAL SAFE STAHLDATEN SERVICE FOR AUTOMATED DRIVING

Transcription

1 FUNCTIONAL SAFE STAHLDATEN SERVICE FOR AUTOMATED DRIVING ConCarExpo 05./ , Berlin Uwe Beher, ESG Elektroniksystem- und Logistik-GmbH Thomas Weyrath, ESG Elektroniksystem- und Logistik-GmbH

2 AGENDA Motivation Automated Driving Cooperative Driving Assistance System Concept Sources Overview System Architecture Data Synthesis Application of Stahldaten Service Functional Overview Overtake Assist STeelData IT-backend and Stahldaten Service Driving Scenarios 2

3 MOTIVATION Level of automation for automated vehicles (SAE J3016 ) Level 0 Level 1 Level 2 No Automation Driver Assistance Partial Automation Driver monitors driving environment ADAS partially functional safe, partial support by IT-backend Level 3 Level 4 Level 5 Conditional Automation High Automation Full Automation Electronic system monitors driving environment ADAS and IT-backend functional safe Driver is fall-back no fall-back 3

4 MOTIVATION Supervision for conditionally automated driving (SuperHAF for CAD) SuperHAF for CAD (all traffic objects + environment) Observation, traffic Service FPD GPS, FPD JAM Accident CAD instruction part. functional safe Traffic objects functional safe 4

5 MOTIVATION Safety relevant cooperative ADAS e.g. Overtake Assist Overtake Assist (all traffic objects) Observation, traffic Service FPD GPS, FPD Overtake instruction functional safe Traffic objects functional safe 5

6 AGENDA Motivation Automated Driving Cooperative Driving Assistance System Concept Sources Overview System Architecture Data Synthesis Application of Stahldaten Service Functional Overview Overtake Assist STeelData IT-backend and Stahldaten Service Driving Scenarios 6

7 SYSTEM CONCEPT Data sources for IT-backend: IoT (Internet of Things) GPS DAB mobile services observation weather map services Functional safe Stahldaten service infrastructure connected vehicles EGO vehicle free internet business internet broadcast Car-2-Infrastructure mobile radio 7

8 SYSTEM CONCEPT Safety for IT-backend and IoT data IoT IT-backend: IEC IP data Transformation Identified objects Qualification traffic scenario Decision Unqualified raw data: functional unsafe Stahldaten service: qualified objects functional safe Qualified instructions: functional (un)safe Vehicle sensors Transformation Identified objects Traffic scenario Decision Automotive Embedded: ISO

9 SYSTEM CONCEPT SuperHAF for CAD: processing of functional safe and unsafe data in IT-backend On-board map Off-board C2X, IoT, phone EGO scenario recognition (own sensors, C2X) On-board scenario scenario reference synthesis anonymous extra scenario recognition Off-board scenario On-board scenario plus traffic objects Stahldaten functional safe static data digital view of the world (static) Derivation of qualified traffic objects functional safe raw data qualification scenario reference dynamic data Digital view of the world (dynamic) Derivation of all traffic objects Off-board scenario plus analysis and evaluation CAD instruction QM data functional unsafe Analysis and evaluation 9

10 SYSTEM CONCEPT Bayesian networks for data qualification - are directed acyclic graphs - offer deterministic calculation time (finitely many vertices and edges) - consist of safety compliant probabilistic structure 10

11 SYSTEM CONCEPT QoS: System latency matches latencies of driver and vehicle functions central backend server decentralized backend server infrastructure nearby units Human ability driving strategy (CAD handover to driver, overtaking) manoevering in traffic (longitudinal, transversal control) fast reaction (emergency brake) sensor acquisition Vehicle ability System latency [neg. log] 10 1 sec 10 0 sec 10-1 sec 10-2 sec 11

12 SYSTEM CONCEPT Synthesis: Step 1 - Sensor data processing - Position x ev and speed x ev ego vehicle at instant of time t ev - Position x i and speed x i of detected vehicles (related to ego vehicle) at instant of time t i - Detection probability of vehicles D i (after sensor data fusion) Detection functional safe D 1 1 D 2 1 Detection functional unsafe 12

13 SYSTEM CONCEPT Synthesis: Step 2 Processing of Stahldaten in STeelData IT-backend - Calculation of probability function for position X ev,sd, time T ev,sd and absolute value D ev,sd (from x ev, x ev, t ev ego vehicle and a-priori knowledge) - Calculation of probability function for position X i,sd, time T i,sd and absolute value D i,sd (from x i, x i, t i ego vehicle, IoT and a-priori knowledge) X ev,sd, T ev,sd, D ev,sd X 1,SD, T 1,SD, D 1,SD X 2,SD, T 2,SD, D 2,SD 13

14 SYSTEM CONCEPT Synthesis: Step 3 Calculation of total error rate - Time and position related solution of probability function for position X i,sd and time T i,sd - Determination of individual error rates for position, time and detection D i,sd - Product of individual error rates results in total error rate e i with unit error per hour each vehicle has a error rate e i, which is compliant to functional safety Detection functional safe e 1 0 e 2 0 Detection functional safe 14

15 AGENDA Motivation Automated Driving Cooperative Driving Assistance System Concept Sources Overview System Architecture Data Synthesis Application of Stahldaten Service Functional Overview Overtake Assist STeelData IT-backend and Stahldaten Service Driving Scenarios 15

16 APPLICATION OF STAHLDATEN SERVICE Function overview: Overtake Assist STeelData IT-backend (data-/source-interpretation, -qualification, overtake assistance) FPD traffic service (internet) Stahldaten service (qualified traffic objects including free road sections) Overtake Assist: overtake instruction AVD GPS occupied free (>500m) FPD: Floating Phone Data; AVD: Abstract Vehicle Detection, e.g. light barrier, induction loop 16

17 APPLICATION OF STAHLDATEN SERVICE System overview: STeelData IT-backend with Stahldaten service GPS, FPD and AVD traffic service (internet) Stahldaten service Stahldaten service simulation Overtake Assist driving scenario STeelData IT-Backend On-board test Overtake Assist 17

18 APPLICATION OF STAHLDATEN SERVICE Overtake Assist in virtual driving scenario 18