Cha halleng nges in n archi hitecting ng fully y autom omated drivi ving ng; on Heav avy Commercial al Veh ehicles es with a h an n empha hasis on 1 Naveen Mohan et al. ; WASA 2016
To o the he b best of of ou our know nowledge, this is paper is is uniq ique in in ➔ Full r ll range of possib ibil ilit itie ies o of Mai ain int ntegrating ng i int ntelligenc nce to o an n autom omot otive p platfor orm contrib ibutio ions ➔ Di Disc scussi ssion across ss a a broad ad sp spectrum of of asp spects w.r .r.t. onomy bot oth func nctiona nal autonom and extra-func an nctiona nal Autonom onomy mi mindma map 2
: Case s study planned : KTH Res esea earch c concep ept veh ehicle, e, Scan ania t a truck 3
Results: Case 3 vs Case 4 Higher Platform Reuse 5 Lower Information Lower accidental flow needed and Complexity(on 4 infrastructure reuse) 3 Lower Ease of Verification Variability(across 2 of ADI functionality platform) 1 Case 3 0 Case 4 Ease of Verifcation Lower Development of Modified Pf Cost Upfront functionality Lower Development Higher Security Cost over time Reduced need for Higher Diagnostics to Reliability/Availabilit ensure safety y 4
www. www.kth.s .se/ it itm/ autonom onomymind ndmap Join and collaborate. KTH: Mechatronics ITRL IC 5
Bio: o: Naveen M n Moha ohan ➔ Bachelor’s in Computer Science and Engineering (2009 009) ➔ 1 year; Defence Industry; Communication, Networks ➔ Master’s in Networks and Distributed Systems (2 (2012) ) Chalmers, Gothenburg ➔ 3 ye years; Automotive ve Indust stry; VCC; SW/ System responsible Hybrid, el drive ➔ PhD hD studies es a at M Mec echa hatroni nics KTH ( (Started ed end end of 2 2015); The he ARCHER ER proje ject: Vinno nnova fund nded ed 6
What we are trying to do? ADI = Autonomous Driving Intelligence By Veronica538 (Own work) [CC BY-SA 3.0 (http://creativecommons.org/licenses/by-sa/3.0) or GFDL (http://www.gnu.org/copyleft/fdl.html)], via Wikimedia Commons 7
Full Reuse Case 1 Preserve legacy Case 2 Case 3 functionality Optimize for Case 4 Case 5 9 No Reuse
Key Messages ➔ The e role o e of l leg egacy ➔ “intel elligen ence( e(ADI) in integratio ion” ➔ The he drive ver ha has to go! ➔ Sa Safety need eeds to b be e proven en ➔ Prototyp ype vs vs Pr Product 10
Ou Outline ➔ Ab About the e Author(s (s) ) and nd the he projec ect ➔ Bac Background ➔ Complexity an and Legac acy ➔ Advan antag ages of autonom onomou ous HCVs vs passen enger er veh ehicles es ➔ Case ses: s: ADI DI i integration. ➔ Conc onclusions ons, future w wor ork a and nd questions ons 11
The he rol ole of legacy in n automot otive sy syst stems s desi sign ➔ Accident ental vs es essent ential complexit ity ➔ Legac acy as as a s a source of accident ental c complex exity ➔ Modularit ity im implie ies that n no vehi ehicle i e is optimized ed i in t n ter erms of functionality. y. ➔ Ther here e are e differ erent ent ways to achi hiev eve e the he same e functio ionalit ity ➔ The he impact of l leg egacy By Andy Dingley (Own work) [CC BY 3.0 12 (http://creativecommons.org/licenses/by/3.0)], via Wikimedia Commons
(Exagger erated ed ex example) e) Design c n cons onsiderations ons ? CC BY-SA 3.0, https://commons.wikimedia.org/w/index.php?curid=342457 By Andy Dingley (Own work) [CC BY 3.0 (http://creativecommons.org/licenses/by/3.0)] 13 via Wikimedia Commons
One Com ommon on Electrical Platfor orm 1.2 14
1500 00 logical al nodes es 15 A Scania production vehicle from 2013
14000 000 conne nnections ns 16 A Scania production vehicle from 2013
➔ We e compensate.. .. ➔ Arch chitect ctur ural Dealin ing w wit ith mechanism sms. s. complexi xity ➔ Pl Platforms ➔ Process m ss measu sures ➔ Stan andar ards ➔ Stan andar ardizat ation 17
Heav avy C Commercial al Veh ehicles es vs s Passe ssenger Ca Cars ➔ TOOL: part of b broader er ec ecosystem em Trans nspor ort sol olution on – mov oving ng p peop ople an and good oods Gen ener erating busi siness ss val alue an and profit it for or ow owne ners - cust stomiza zable n; Second nd l life ; r ➔ Long ong l life span; res esale e val alue ➔ High mileag age ➔ High h depend ndability; empha hasis on on de degrade ded d mode des. ➔ Highl hly m mod odular: ➔ Low ow prod oduction on vol olumes; hi high h variability / Emphasi sis s on D& D&D D cost sts 18
Advan antag ages of of autonom onomou ous HCV CVs ➔ Logist stics. s. Trucks currently limited in speed. ➔ Env nvironm onment ntal. Air resistance – convoying - Fuel 33 % 33 % savings ➔ Chauffer er r rel elated ed. Shortage of qualified drivers Truck dri river > r >33% 3% in in cost st ➔ Sim implif ific icatio ion ( (eventual) Stressful job and environment regulations to help drivers Design to help the driver: ergonomics, ➔ Ne New busi siness m ss models s possible if “C” drivers license is not essential. Lower cost of entry for more people. 19 Source: Sveriges Åkeriföretag
Sa Safety • Are re curre rrently dri riven by prof pr ofessiona onal drivers. cons nsiderations ns specif ific ic t to HCVs • Coul ould c carry Haz azMat at • The e size o e of H HCV, ALARP; num number of of pe peopl ople ISO26262 trans nspor ported i inc ncreases the p possib ibilit ility a and s scale le of d dam amag age. 20
Ou Outline ➔ Ab About the e Author(s (s) ) and nd the he projec ect ➔ Bac Background ➔ Complexity an and Legac acy impac act ➔ Advant ntages of of a autonom onomou ous H HCVs vs passen enger er veh ehicles es ➔ Cases: A ADI i int ntegration. on. ➔ Conc onclusions ons, future wor ork and nd questions ons 21
Foc ocus on on per erspec ectives es o of ➔ Busi siness A ss Asp spects ➔ Sa Safety ➔ Dependabil ilit ity ➔ Verif ific icatio ion ➔ Real alizat ation 23
➔ Drastic increase in essential complexity ➔ Socio technical implications So Sources of of ou our that arise due to the potentially disruptive nature challen enges es of autonomy ➔ The absence of a driver to deal with unexpected failures. ➔ Saf afety av avai ailab ability trad adeoff 24
Why cases at all? ➔ Man any skew ewed ed disc scussi ssions ➔ Exper ertise a e and differ eren ent cons onsiderations ons i in n play. ➔ Legac acy i is a a moving t tar arget ➔ Prot otot otype v vs prod oduct SO SOTA: mor ore or or l less prot otot otypes; OEM EM IP IP ➔ Reluct ctance ce, c cos ost to o cha hang nge legacy : ne needs m mot otivation. on. ➔ All cas ases ar are cap apab able of L5 au automat ation 25
➔ Issu ssues s common to all c case ses s e.g. col ollabor oration on with h ot othe her entit itie ies, l legal is issues, lia iabil ilit ity Scope and Sc ➔ Foc ocus is on on how how the he ADI can n inte tegrate te with th th the platf tform delim imit itatio ions ➔ Enabling reu euse e (wher ere e fea easible, e, r rea easonable, e, practic ical) is is a prio iorit ity. 26
To o the he b best of of ou our know nowledge, this is paper is is uniq ique in in ➔ int ntegrating ng i int ntelligenc nce to o Mai ain an n autom omot otive p platfor orm contrib ibutio ions ➔ Di Disc scussi ssion across ss su such a a broad ad sp spectrum of of asp spects w.r .r.t. autonom onomy Autonom onomy mi mindma map 27
➔ OODA loop oop; O Obs bserve, ADI d defin init itio ion Orient nt, Decide de a and A nd Act. ➔ Orien ent and D nd Decide de di directly mapped d to t o the he ADI DI ➔ Obs bserve a and A nd Act m mapped d to bot o both h the he p platfor orm and nd the he A ADI, sens nsor ors ne need t d to o be r e reu eused ed By Patrick Edwin Moran (Own work) [GFDL (http://www.gnu.org/copyleft/fdl.html) or CC BY 3.0 28 (http://creativecommons.org/licenses/by/3.0)], via Wikimedia Commons
➔ Safety a ana nalysis depe pend nds on on conf onfigur uration, on, coul ould cha hang nge per case a pe and nd c cont ontext. Con ondition ons f for or ➔ It cannot nnot be avoi oided, how however reuse se the e need eeded ed analysis could be e min inim imiz ized. ➔ Legacy c com ompone ponent nts can n be reus used onl only if Usage age still m meets de design de n decisions ons bot both h timing ng, and da nd data l limitations ons. 29
➔ Com ompone onent nts can b n be t turne ned off i if need eeded ed ➔ Fai ail Saf afe vs Fai ail Operat ational al. ➔ Actu tuato tors limite ted to to th the plat atform Assu ssumptions ➔ New ew Sen ensors can b be a e added ed to the e ADI freel eely ➔ ADI c can an ac access al all inf nfor ormation on available to o the he com ompone onent nt it c cont ontrol ols 30
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