autonomous longitudinal control with driving advices Dipl. Ing. Bjrn - - PowerPoint PPT Presentation

Institute of vehicle system technology

www.kit.edu

Module Test Functional Test

System Test Integration Test

M

Module Implementation

Module Design

Requirements Analysis

System Design Subsystem Design

KIT - University of the State of Baden-Wuerttemberg and National Laboratory of the Helmholtz Association

Continuous testing over the entire development process of autonomous longitudinal control with driving advices

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Institute of vehicle system technology 2 23.09.2016

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Inhalt

Motivation Unit under Test Driving Advices in CarMaker Process of testing

Offline Test Hardware in the loop testing Vehicle test

Conclusions and results Outlook

Institute of vehicle system technology 3 23.09.2016

Motivation

Many tests during development of driver assistance systems

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Vehicle tests

Prototype hardly available Very

expensive

Tests during whole development process

Save time Save money

Institute of vehicle system technology 4 23.09.2016

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Unit under Test

Driving Assistance system

EeDA – Efficient eDrive Assistant

EeDA Automated

Vehicle is following a calculated trajectory autonomously. Driver has only to steer.

Assisted

Driver gets advices to perform an efficient way of driving

Institute of vehicle system technology 5 23.09.2016

Unit under Test

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

EeDA

Route data

CAN bus data

Route data processing Adaptive vehicle model Driving style recognition Driving advices Trajectory generation Optic and haptic feedback for driver Motor torque controller

CAN bus data Internal route data v(s)

Institute of vehicle system technology 6 23.09.2016

Driving Advices

Debugging with plots or numbers only is hard

 visual driving advices where implemented as Overlay in Movie using Tcl/Tk

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

current speed limit speed advice regarding next situation type of next situation recommended behaviour for next situation Distance to next situation Distance to next recommended behaviour

Institute of vehicle system technology 7 23.09.2016

Driving Advices

Debugging with plots or numbers only is hard

 visual driving advices where implemented as Overlay in Movie using Tcl/Tk

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

current speed limit speed advice regarding next situation type of next situation recommended behaviour for next situation Distance to next situation Distance to next recommended behaviour

Institute of vehicle system technology 8 23.09.2016

Driving Advices

Debugging with plots or numbers only is hard

 visual driving advices where implemented as Overlay in Movie using Tcl/Tk

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

current speed limit speed advice regarding next situation type of next situation recommended behaviour for next situation Distance to next situation Distance to next recommended behaviour

Institute of vehicle system technology 9 23.09.2016

Driving Advices

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

speed limit curve left curve right hilltop more possible

50

Institute of vehicle system technology 10 23.09.2016

Driving Advices

Debugging with plots or numbers only is hard

 visual driving advices where implemented as Overlay in Movie using Tcl/Tk

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

current speed limit speed advice regarding next situation type of next situation recommended behaviour for next situation Distance to next situation Distance to next recommended behaviour current speed limit speed advice regarding next situation type of next situation

Institute of vehicle system technology 11 23.09.2016

Driving Advices

Acceleration Sailing Braking Recuperation stage 1 Recuperation stage 2 Recuperation stage 3

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Institute of vehicle system technology 12 23.09.2016

Driving Advices

Debugging with plots or numbers only is hard

 visual driving advices where implemented as Overlay in Movie using Tcl/Tk

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

current speed limit speed advice regarding next situation type of next situation recommended behaviour for next situation Distance to next situation Distance to next recommended behaviour

Institute of vehicle system technology 13 23.09.2016

Driving Advices

Debugging with plots or numbers only is hard

 visual driving advices where implemented as Overlay in Movie using Tcl/Tk

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

current speed limit speed advice regarding next situation type of next situation recommended behaviour for next situation Distance to next situation Distance to next recommended behaviour

Institute of vehicle system technology 14 23.09.2016

V-model

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Module Test Functional Test System Test Integration Test Module Design Requirements Analysis System Design Subsystem Design

Module Implementation

Institute of vehicle system technology 15 23.09.2016

Process of testing – Offline test

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Module Test Functional Test System Test Integration Test Module Design Requirements Analysis System Design Subsystem Design

Module Implementation

Institute of vehicle system technology 16 23.09.2016

Offline test - Overview

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

• nal

M

Module Implementation

Functional module test CarMaker-Office is used Modules are build as Plugin-models with Matlab/Simulink and compiled with Realtime Workshop Route data could not be received from external source (navigation system, Car-PC, …)

 method to determine route data directly from CarMaker needed

Institute of vehicle system technology 17 23.09.2016

CarMaker Road

• Contains all

needed features

C#-Code

• calculating road

bend

• determining

slope and speed limit

Simulink model

• more than 3000

blocks

Vector of route data

• Same format

like in the car

Process of testing – route data generation

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

• nal

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Module Implementation

Institute of vehicle system technology 18 23.09.2016

Process of testing – Hardware in the loop test

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Module Test Functional Test System Test Integration Test Module Design Requirements Analysis System Design Subsystem Design

Module Implementation

Institute of vehicle system technology 19 23.09.2016

HIL Test - Overview

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Software on ETAS ES910 rapid prototyping ECU CarMaker-HIL with Xpack4 Route Data provided by separate CarPC Engine controller in the loop Residual bus simulation of 500 signals and 4 CANs in Simulink

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Module Implementation

Institute of vehicle system technology 20 23.09.2016

HIL Test - HIL test bench set-up

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

IPG Xpack 4 Host PC ETAS ES910 Engine Controller CarPC CAN CAN CAN EeDA software digital road data vehicle model environment model driver model torque distribution safety functions test control Ethernet drivetrain model

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Module Implementation

Institute of vehicle system technology 21 23.09.2016

HIL Test – tests and test track

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Basic functionality tests with IPG Testmanager

activation/deactivation of EeDA in different scenarios safety functions of engine controller

Import of real test track into CarMaker

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Module Implementation

Institute of vehicle system technology 22 23.09.2016

Process of testing – vehicle test

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Module Test Functional Test

System Test

Integration Test Module Design Requirements Analysis System Design Subsystem Design

Module Implementation

Institute of vehicle system technology 23 23.09.2016

vehicle test - Overview

Software was tested in the car using an ETAS ES910 Works like espected with very little application effort Driver Advices in the car

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Module Implementation

Institute of vehicle system technology 24 23.09.2016

Conclusion and Results

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Implementation of a full test process for advanced driver assistance functions Testing offline possible with implemented optical advices Route data extracted from CarMaker road

Provoding of electronic horizon

Early testing improved the development process Realistic tests at HIL test bench allow a quick application in the real car

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Outlook Implementation of adaptive advices

Adapt to driving style and reaction times

Construction of a driving simulator to test software and advices with test persons Extension of the drivetrain model to support different drivetrain topologies

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Institute of vehicle system technology 26 23.09.2016

Acknowledgement

The work presented in this publication is performed as part of the projects ”e-generation key technologies for the next generation of electric vehicles” and ”e-volution” which are supported by the German Federal Ministry of Education and Research (BMBF), FKZ: 16N11865 and 16EMO0071.

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr

Institute of vehicle system technology 27 23.09.2016

• Dipl. Ing. Björn Fath und Dipl.-Inform. Dominik Dörr