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Real-Time Autonomous Driving application on HERCULES framework - talk version

In the last years, Tier ones and OEMs are prototyping and testing self-driving capabilities on top of embedded MPSoCs (Multiprocessor System on Chip), these architectures are commonly composed of more than general purpose processors, a complex memory hierarchy and high-performance accelerators.
Consequently, many car and tech makers are implementing multiple applications with different functionalities and criticality levels in the same Electronic Control Unit (ECU).
Nonetheless, by doing so, the scheduling and the management of shared resources become a very convoluted problem, especially on architectures with complex memory hierarchies.
Unfortunately, a non-proper software integration can lead to a situation in which high critical tasks may be affected by less critical tasks.
In this sense, many open-source projects rely on ROS (the most used framework in robotics) and consequently Linux for implementing self-driving cars, for instance Apollo or Autoware. However, ROS and general-purpose Linux distributions are far from being safe enough for the development and integration of safety critical applications.
Thanks to the HERCULES framework, we developed and integrate a real autonomous driving system that partitions safety critical tasks from the non-critical ones as required in the ISO 26262.
Our solution does not require a dedicated Real-Time platform, reducing in this way design and production costs because everything is integrated on a small low power embedded board i.e. NVIDIA Jetson TX2.

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Real-Time Autonomous Driving application on HERCULES framework - talk version

  1. 1. Real-Time Autonomous Driving application on HERCULES framework Francesco Gatti 3 May 2019 Modena
  2. 2. Francesco Gatti San Francisco - 15 May 2019 Open source solutions for autonomous Driving 2
  3. 3. Francesco Gatti San Francisco - 15 May 2019 Autonomous driving needs Real-Time All executed task must finish before a predefined deadline - reliable software - Real-Time OS - certified hardware 3
  4. 4. Francesco Gatti San Francisco - 15 May 2019 Hi computational cost Industrial PC Autonomous driving is complex 4
  5. 5. Francesco Gatti San Francisco - 15 May 2019 Solution - Not every task needs Real-Time Task separation between Best-Effort and Critical task 5
  6. 6. Francesco Gatti San Francisco - 15 May 2019 What you need for Driving Localization Obstacle detection and tracking Global Planner Local Planner Actuation 6
  7. 7. Francesco Gatti San Francisco - 15 May 2019 Localization - Feature matching with maps - High frequency reliable output 7 Localization
  8. 8. Francesco Gatti San Francisco - 15 May 2019 Best-Effort OS Real-Time OS Localization decomposition 8 Localization Position Filter ~ 10 Hz 20 Hz
  9. 9. Francesco Gatti San Francisco - 15 May 2019 Best-Effort OS Real-Time OS Localization decomposition 9 Localization Position Filter ~ 10 Hz 20 Hz ROBUST TO FAILURES AND DELAYS
  10. 10. Francesco Gatti San Francisco - 15 May 2019 Obstacle detection and tracking - Camera detection - Laser sensors detection - Object tracking - Object trajectory prediction 10 Obstacle Detection and Tracking
  11. 11. Francesco Gatti San Francisco - 15 May 2019 Best-Effort OS Real-Time OS Obstacle detection and tracking decomposition 11 Detection Tracking ~ 10 Hz 20 Hz
  12. 12. Francesco Gatti San Francisco - 15 May 2019 Global Planner 12 ~ 1 Hz Global Planner - Calculate route from A to B
  13. 13. Francesco Gatti San Francisco - 15 May 2019 Local Planner 13 Local Planner - Dynamically update path to follow - Avoid obstacles - Follow path
  14. 14. Francesco Gatti San Francisco - 15 May 2019 Local Planner decomposition 14 Trajectory Sampling Path follow Collision check
  15. 15. Francesco Gatti San Francisco - 15 May 2019 Best-Effort OS Real-Time OS Local Planner decomposition 15 Trajectory sampling Path Follow ~ 20 Hz 20 Hz Collision check
  16. 16. Francesco Gatti San Francisco - 15 May 2019 Actuation 16 ~ 100 Hz Actuation - Simple low level control - Send steer and throttle commands to the car
  17. 17. Francesco Gatti San Francisco - 15 May 2019 Putting all together 17 Localize Position Filter Path Follow Global Planner Actuation Object Detection Object Tracker Trajectory Sampling
  18. 18. Francesco Gatti San Francisco - 15 May 2019 framework: 18 Hardware Hypervisor Best Effort OS Real-Time OS
  19. 19. Francesco Gatti San Francisco - 15 May 2019 19 Hardware Hypervisor framework:
  20. 20. Francesco Gatti San Francisco - 15 May 2019 20 Hardware framework: JAILHOUSE
  21. 21. Francesco Gatti San Francisco - 15 May 2019 21 Jetson TX2 framework: JAILHOUSE
  22. 22. Francesco Gatti San Francisco - 15 May 2019 All packed in a NVIDIA Jetson tx2 22 - Small - Cheap - High performance embedded board - Low power consumption
  23. 23. Francesco Gatti San Francisco - 15 May 2019 Hardware in the loop simulation 23 Simulation HOST Embedded Board
  24. 24. Francesco Gatti San Francisco - 15 May 2019 Our Car 24
  25. 25. Francesco Gatti San Francisco - 15 May 2019 Real world action 25
  26. 26. Francesco Gatti San Francisco - 15 May 2019 Thanks 26 Francesco Gatti - 189382@studenti.unimore.it

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