ADAS video acquisition and injection solution | CANoe+DYNA4+VX1161.51

Advanced Driver Assistance Systems (ADAS) refers to the use of various perception sensors, high-precision maps, regulatory control algorithms, data processing and other technologies to provide driving assistance functions. ADAS systems can improve the safety and comfort of vehicles.

Cameras are an integral part of parking, collision avoidance, lane keeping, traffic sign recognition, headlight assistance, in-car and driver monitoring, etc. The increasing number of camera types, numbers and functions makes it increasingly difficult to test algorithm training under various conditions in real vehicles. Video injection is an essential part of ADAS system testing. It can be the injection of real data or the injection of virtual video scenes under complex extreme conditions. When real working conditions are limited, the algorithm can be iterated through laboratory virtual video scenes, and then injected with a large amount of real scene data to correct the algorithm. The injection of virtual scenes is an effective supplement to the corner cases in real scenes. Although virtual scenes cannot completely replace real scenes, they can realize the training of algorithms for all conceivable scenarios, so as to achieve the testing of maximized scenarios.

Vector has launched a complete video capture and injection solution to meet industry needs. Its working principle is as follows:

The system has the advantages of high speed, rich channels, high synchronization accuracy, and scalability. It supports data collection and feedback of higher-level intelligent driving controllers, and performs time synchronization through PTP with synchronization accuracy reaching nanosecond level.

The solution includes CANoe, DYNA4 and VX1161.51 boards. CANoe is a comprehensive platform that integrates simulation, analysis and testing. Its latest version provides ADAS-related windows to facilitate ADAS testing and observation of sensor-related variables. At the same time, it seamlessly integrates the DYNA4 vehicle model and performs joint simulation, interacting with the ECU bus signal through the bus interface.

DYNA4 is a fully verified virtual vehicle simulation environment for passenger cars and commercial vehicles (including various component systems required for traditional oil vehicles and new energy vehicles). Its physical models include vehicle dynamics, powertrain, internal combustion engine, electric motor, ADAS sensor and traffic environment. Virtual simulation testing through DYNA4 helps to develop and verify functions safely and efficiently. DYNA4 has 3D simulation functions for environments such as roads, infrastructure and traffic, providing an important simulation environment platform for whole vehicle virtual simulation, driving assistance and unmanned driving.

DYNA4 has the following outstanding features:

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Excellent 3D visualization

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A user-extensible and diverse object library including signs, vehicles, bicycles, pedestrians, animals, and more

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Supports driving simulation in an open OpenDRIVE road network environment

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Support import and export of OpenScenario scenes

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Supports creation of simulation scenarios with prescribed behaviors, such as NCAP

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Supports random scenarios, such as driving on a busy highway

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Supports decision-level target lists and perception-level signal simulation for cameras, lidars, radars, and ultrasonic sensors

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Environmental perception: lane detection, traffic sign recognition, target detection, simultaneous localization and mapping (SLAM), etc.

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Comfort functions: Adaptive cruise control (ACC), traffic jam assistance, assisted parking, etc.

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Safety systems: pre-collision, forward collision warning (FCW), automatic emergency braking (AEB), lane keeping assist, blind spot monitoring, etc.

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Networked Collaborative Driving (V2X)

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Supports MIL, SIL to HIL and CI/CT testing

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Support for FMU, ROS and ADTF

The VX1161.51 board is specially designed for video injection and supports two ECU interfaces: one is GMSL and the other is FPDLink3.

The board is available in four different variants, depending on the interface type and usage scenario:

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VX1161.51A: FPD_Link3, 2xTI954/TI953

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VX1161.51C: GMSL2, 2xMX9296A/MX9295

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VX1161.51B: FPD_Link3, 4xTI954

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VX1161.51D: GMSL2, 4xMX9296A

Its front panel is as follows:

This article uses VX1161.51A as an example to briefly describe its usage scenarios and configuration. VX1161.51A 2xTAP TI954/TI953 is a dual-channel card for FPD-LINK III data streams. Both channels contain a Texas Instruments DS90UB954 deserializer and a Texas Instruments DS90UB953 serializer.

VX1161.51A can be used in the following scenarios:

Video RX/TAP (Video Receive/Record)

Video TX (video transmission/playback)

If the channel is configured in TAP mode (configured as TAP_RX + TAP_TX in VXconfig), the camera sends the data stream to VX1161.51A through the FPD-LINK III interface, which is received by the DS90UB954 TAP deserializer. The data stream is then sent to the DS90UB953 TAP serializer and finally to the ECU. In addition, the data stream can be sent to the recording data processor for data recording. As shown in the following figure:

If the channel is configured as TX mode (only configured as TX_only in VXconfig), that is, video playback or re-injection mode, the actual data of the road test or the data stream from the DYNA4 virtual video is output to the ECU through the DS90UB953 serializer. Then the algorithm inside the ECU is trained, and the algorithm can also be trained by combining the actual scene data with the virtual scene data. The connection method is shown in the figure below:

According to the above connection method, the actual operation is as follows:

The running result is shown in the figure below:

From the above examples, we can see that this solution can well meet the needs of different customers: it supports both the playback of actual video data and the injection of virtual video, as well as the superposition of the two types of data.