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The Low-Risk Path to Building Autonomous Car Architectures
This document summarizes a presentation on developing autonomous vehicle architectures. It discusses using a data-centric middleware approach like the Data Distribution Service (DDS) standard to integrate sensors, fusion software, and control systems. DDS provides a common data model, quality of service controls, security features, and other benefits to help lower development risks. It also advocates consolidating electronic control units using a hypervisor and safety-certified operating system like QNX to isolate functions with different safety requirements. The presentation argues this is a lower-risk path to autonomous vehicle architecture than point-to-point and client-server approaches.
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The Low-Risk Path to Building Autonomous Car Architectures
- 1. Thomas Bloor, AutomotiveBusiness Development Manager, QNX Software Systems Bob Leigh, Director of Market Development, RTI The Low-Risk Path to Building Autonomous Car Architectures Moderator: Curt Schwaderer, OpenSystems Media Speakers:
- 2. Agenda Housekeeping Presentation Questions and Answers Wrap-up
- 3. The Low RiskPath to Developing Autonomous Car Architectures Thomas Bloor Automotive Business Development
- 4. © 2016 BlackBerry.All Rights Reserved. 4 QNX : Automotive Market Leader
- 5. © 2016 BlackBerry.All Rights Reserved. 5 How Do You Architect an Autonomous Car? Mapping + Sensor Data
- 6. © 2016 BlackBerry.All Rights Reserved. 6 How Do You Architect an Autonomous Car?
- 7. 7 Confidential Automated Drive Controller Sensor Fusion SensorFusion Architectures Camera, Radar, Ultrasonic and Lidar sensors for 360⁰ coverage Bus • Perception • Path Planning • Decision Making • Safety Monitor • CAN Gateway Bus Vehicle Actuators + Sensors Sensors • Data Fusion • Localization • Object Detection
- 8. © 2016 BlackBerry.All Rights Reserved. 8 The ECU Consolidation Challenge • 60-100 ECUs • 6-8 operating systems • Isolated operations • Increasing cost & complexity • Minimal upgradability TODAY • 6-10 Consolidated-controllers • Consolidated software system • Coordinated operations • Reduced weight, cost, & complexity • Future-proof with built in upgradability TOMORROW Handful of other ECUs Autonomous Drive Controller Cockpit Controller Black Box Controller Powertrain Controller Body Controller Firewall & Comms Controller
- 9. 9 Confidential Sensor FusionArchitectures Multiple Radar and Lidar sensors for 360⁰ coverage Multiple Cameras Vision system Radar Interface Sensor Fusion Software Ethernet QNX OS for Safety Fusion ECU Redundant modules for fail over “fail operational” Redundant modules for fail over “fail operational” Automated Drive Controller ECU Safety Micro AUTOSAR (Infineon AURIX, V850, others) • Perception • Path Planning • Decision Making • LCLS • AUTOSAR integration • SOME/IP • Safety Monitor • CAN Gateway CAN Bus Actuators AUTOSAR Lidar Interface Performance Processors QNX OS for Safety (Intel Denverton, Renesas H3, NVIDIA Parker)
- 10. 10 Confidential Architecture Evolution RawData Input to Sensor Fusion ECU Vision system Radar Interface Sensor Fusion Software Ethernet QNX OS for Safety Fusion ECU Automated Drive Controller ECU Safety Micro AUTOSAR (Infineon AURIX, V850, others) CAN Bus Actuators AUTOSAR Lidar Interface Performance Processors QNX OS for Safety (Intel Denverton, Renesas H3, NVIDIA Parker) Neutral Network Object Detection Deep Learning in the Cloud Distribution of Functionality
- 11. 11 © 2016 BlackBerry.All Rights Reserved. 11 The Low Risk Path to Developing Autonomous Car Architectures Modular Design Flexibility Code Portability Common Operating System Framework Flexible, Predictable Communications Bus
- 12. © 2016 BlackBerry.All Rights Reserved. 12 Safety Requirements Challenge Front-View Camera System ASIL B Rear-View Camera System ASIL B Instrument Cluster ASIL B Sensor Fusion ASIL D 77 GHz Radar ACC ASIL C Drive Controller ASIL D Driving Lights ASIL B Braking and Stability Systems ASIL D Black Box Functionality ASIL A Airbag System ASIL D Safety Watchdog ASIL D Brake Lights ASIL B Functions compiled into a Single Consolidated Controller May Have Different Safety Requirements Requires Separation, Isolation, and Full Security when different adjacent functions and OSs are integrated into a single Consolidated-Controller Secure and Safety Certified Type-1 Hypervisor Is the Solution
- 13. © 2016 BlackBerry.All Rights Reserved. 13 TRUST ANCHOR MANAGED PKI Built in Security features to prevent unauthorized access and prevent attacks SECURE OPERATING SYSTEM Certificate management for telematics, IVI, ECUs, domain controllers, V2X, OTA & anything that connects Root of trust and certificate chain to secure networked ECUs & domain controllers Security For the Autonomous Car Secures manufacturing supply chain to prevent cloning and inject security keys ASSET MANAGEMENT SYSTEM
- 14. 14 © 2016 BlackBerry.All Rights Reserved. 14 The Trusted Solution Foundation SAFE SECURE RELIABLE ADAPTABLE QNX Certified Hypervisor QNX Other Guests DEPENDABLE Automotive Engineering Services 100% SOP success rate World-class automotive expertise Powering your brand for the future
- 15. © 2016 BlackBerry.All Rights Reserved. 15 QNX Software Development Platform 7.0 QNX Operating System • Maximize design flexibility • Accelerate development cycles • Build in quality • Optimize system resources • Mission critical reliability • Advanced security • Scalable and standards conforming • Support for a wide range of 64-bit ARM and x86 hardware QNX Momentics IDE
- 16. 16 Proprietary ISO 26262Certified RTOS • First real-time operating system certified for use in ISO 26262 ASIL D items • Certified by TUV Rheinland (certificate stored in TUV public repository) • Scope of certification includes: • QNX Neutrino kernel with multicore and adaptive partitioning • Tool chain and libc – C compiler, linker, and assembler classified as Tools Confidence Level 3 according to ISO 26262
- 17. © 2016 BlackBerry.All Rights Reserved. 17 Infotainment / 3rd party apps Informational ADAS Digital Instrument Cluster Firewall • Type-1 Hypervisor • Foundation for ECU consolidation • Complete separation and isolation of guests • Hardware device assignment or controlled device sharing • Temporal separation with guaranteed CPU budget • Spatial separation of memory, cores, hardware devices • ISO 26262 ASIL D certification • Full ARM and x86 integration QNX Certified Hypervisor Hardware (ARMv7, ARMv8, x86_64) QNX Hypervisor …
- 18. © 2016 BlackBerry.All Rights Reserved. 18 QNX Platform for ADAS • Improve time to market for camera based ADAS systems • Pre-integrated reference implementation including: • Low latency camera input with support for a variety of camera types • Support for hardware accelerated vision processing systems • 3rd party ADAS algorithms • AUTOSAR integration and communication for automated drive domain controllers Foundation for ADAS, active safety systems and automated driving applications, built upon an ISO 26262 safety certified operating system
- 19. 19 © 2016 BlackBerry.All Rights Reserved. 19 Summary – Lowering Risk Design for Flexibility & Portability Build Secure Code Common Operating System Framework Flexible, Predictable Communications Bus
- 20. The Secret toLow-Risk Architecture in Autonomous Cars Bob Leigh, Director of Market Development
- 21. The Future isIntelligent Distributed Machines ©2016 Real-Time Innovations, Inc.
- 22. RTI’s Experience • ~1000Projects – Healthcare – Transportation – Communications – Energy – Industrial – Defense • 15+ Standards & Consortia Efforts – Interoperability – Multi-vendor ecosystems ©2016 Real-Time Innovations, Inc.
- 23. RTI’s Deep Expertisein Autonomy • Founders from Stanford Aerospace Robotics Lab • RTI middleware powers unmanned systems on land, sea, air, and space • RTI led the US UAS ground station architecture • RTI-based system will soon allow drones in class-A National Air Space • RTI Connext DDS was developed for advanced reactive vehicles ©2016 Real-Time Innovations,
- 24. The IIoT Disruption Thereal value is a common architecture that connects sensor to cloud, interoperates between vendors, and spans industries Common technology that spans industries brings bold new approaches and enables fast change ©2016 Real-Time Innovations, Inc.
- 25. ©2016 Real-Time Innovations,Inc. Status Feb 2016 Data Considerations Security Safety Scale
- 26. • Ensure reliabledata availability • Guarantee real-time response • Manage complex data flow and state • Ease system integration • Build security in from the start • Make deployment flexible • Ease safety certification How Does DDS Help Autonomy Development? ©2016 Real-Time Innovations, Inc.
- 27. The DDS Databusis Different! ©2016 Real-Time Innovations, Inc. Data-Centric DDS Shared Data Model DataBus Point-to-Point TCP Sockets Client/Server MQTT XMPP OPC CORBA Brokered ESB Daemon Publish/Subscribe Fieldbus CANbus ZeroMQ JMS Queuing AMQP Active MQ
- 28. Systems are Aboutthe Data Data Centricity Definition a) The interface is the data. b) The infrastructure understands that data. c) The system manages the data and imposes rules on how applications exchange data. ©2016 Real-Time Innovations, Inc. Database Databus Data centric storage and search of old data Data centric sharing and filtering of future data Application Application Message centric Remote Objects SOAs Application Application Data
- 29. IDL 3.5 IDL4.0 I 2014 RPC over DDS 2014 DDS Security 2015 DDS Implementation Network / TCP / UDP / IP DDS Spec 2004 DDS X- Types 2010 App DDS-API-C++ DDS-API-JAVA 2012 DDS-WEB 2013 DDSI-RTPS-TCP 2015 DDSI-RTPS Wire Protocol 2006 DDS Specification Family ©2016 Real-Time Innovations, Inc. • Replaces TCP with 1-to-many QoS-controlled type-aware datagram stream • Layers 4-5 of ISO Network Model (facilities layer) • Transport independent • Architecture or industry defines the data model
- 30. Why a Databus? •Reduce risk – Proven, reusable, powerful, 100% standard • Build elegant architecture – Data-centric design eliminates coupling & speeds development – QoS control simplifies integration – Sensor-to-cloud connectivity builds systems • Tap advanced capability – Transport, OS, language transparency – Enterprise scalability & performance – Extreme reliability – Practical, facile security ©2016 Real-Time Innovations, Inc. Shared Data Model DataBus
- 31. Cloud Services DDS IntegratesAll Components ©2016 Real-Time Innovations, Inc. Sensing Planning Radar, LIDAR Vehicle Platform Navigation Error Management Visualization Situation Analysis Situation Awareness Vision Fusion Cameras, LIDAR, Radar … Data Fusion LoggingVehicle Control Localization DDS Bus Traffic Maps DDS Bus
- 32. QoS: Quality ofService ©2016 Real-Time Innovations, Inc. Permission to distribute unmodified Volatility UserQoS Delivery PresentationRedundancy Infrastructure Transport
- 33. Take it toMassive Scale ©2016 Real-Time Innovations, Inc. Unit DataBus Unit DataBus Cloud DataBus Site DataBus Unit DataBus Sense Act Think HMI Machine DataBus • Each level of the hierarchy has – Data model – Discovery – Security domain • System-of-systems require – Subsystem export control – Data model translation – Discovery control Intelligent Machines Intelligent Systems Intelligent Industrial Internet Intelligent System of Systems
- 34. Security Must ProtectDataflow System Transport Unit Data ©2016 Real-Time Innovations, Inc.
- 35. DDS Secure • OMGSecurity DDS standard • Requires trivial or no change to existing DDS apps and adapters • Plugin architecture • Runs over any transport • Completely decentralized Secure DDS library Authentication Access Control Encryption Data Tagging Logging Application Any Transport (e.g., TCP, UDP, multicast, shared memory, ) ©2016 Real-Time Innovations, Inc.
- 36. Tenets Of Safety-CriticalSoftware • Reduce code size • Consider testability in design • Design code to be deterministic ©2016 Real-Time Innovations, Inc. Certification Evidence Ships! Certification Evidence Ships!
- 37. Reduced Application Code MessageCentric Data Centric (DDS) Message Centric Middleware Application Application Logic Message Parsing and Filtering Message Caching Send/Receive Packets Addressing, Marshaling Data Centric Middleware (DDS) Send/Receive Packets Discovery, Presence Marshaling, 32/64 Message Caching & State Management Message Parsing and Filtering Application Application Logic Savings ©2016 Real-Time Innovations, Inc.
- 38. Certified Middleware GreatlyEases Safety Cert • Provides non-stop availability – Decentralized architecture – No single point of failure – Support for redundant networks – Automatic failover between redundant publishers – Dynamic upgrades • No central server or services • Version-independent interoperability protocol • Supports subsystem isolation and incremental certification • Controls real-time Quality of Service • Makes missed deadlines and presence visible • Proven in thousands of mission critical systems ©2016 Real-Time Innovations, Use Certicom Encryption with Plug-ins!
- 39.
- 40. Hardware (ARMv7, ARMv8, x86_64) QNXHypervisor Infotainment / 3rd party apps Informational ADASDigital Instrument Cluster Firewall … Works with QNX ©2016 Real-Time Innovations, Inc. DDS DataBus
- 41. Build the RightFuture ©2016 Real-Time Innovations, Inc.
- 42. Audience Q &A Thomas Bloor, Automotive Business Development Manager, QNX Software Systems Bob Leigh, Director of Market Development, RTI
- 43. Thanks for joiningus Event archive available at: http://ecast.opensystemsmedia.com/ E-mail us at: jgilmore@opensystemsmedia.com