AN OPEN-SOURCE SOFTWARE PLATFORM FOR AUTONOMOUS DRIVING ...€¦ · Lukas Bulwahn...
Transcript of AN OPEN-SOURCE SOFTWARE PLATFORM FOR AUTONOMOUS DRIVING ...€¦ · Lukas Bulwahn...
Lukas Bulwahn (joint work with Tilmann Ochs and Daniel Wagner)
BMW Car IT GmbH | February 5th, 2017
AN OPEN-SOURCE SOFTWARE PLATFORM FOR AUTONOMOUS DRIVING SYSTEMSITS SUCCESS AND ITS DIFFICULTIES
ABOUT BMW CAR IT GMBH
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 2
- Founded in 2001 as a wholly owned subsidiary of the BMW AG
- Strengthen BMW's software competence
- View vehicles as software systems
- Develop innovative software for future BMW Group vehicles- Prototype solutions for early and reliable project decisions
- Participate in several open-source communities and research projects
BMW Car IT GmbH is currently hiring!
http://www.bmw-carit.de/opportunities/
OUTLINE
- Motivation in 2013
- Better Understanding, Progress and Development in 2017
- Business Cooperation Strategy
- Communication Middleware- Safety & Real-time
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 3
AUTOMOTIVE COMPUTING
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 4
Control Software Cognitive Software
CognitiveSoftware
ControlSoftware
advanced driver assistance, automated driving
manual driving, driver assistance, active safety
§ dynamic models + AI§ rapidly evolving technology§ dynamic software structure and configuration§ high performance mainstream HW
§ state machine + controller§ mature state-of-the-art§ static software structure and configuration§ automotive microcontrollers
Presented at Real-time Linux Workshop 2013, FOSDEM 2014, Open Forum 2014, …
KEY USE CASES
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 5
High-Performance Computing Dynamic Software Platform
software distributionbackend
vehicle fleet
vehicle manufacturer
support non-invasive rollout of software into vehicles
Application Software
HardwareAcceleration
GPUDSP
FPGA
Software Platform
PerformanceCPU
x64Cortex A57PPC e5500
ExternalMemories
DRAMNAND Flash
Unified and Standardized API
diagnostic field data
improved software
delivery over-the-air
decouple application software from hardware technology
Presented at Open Forum 2014, …
BUSINESS COOPERATION STRATEGY
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 6
automotive specific
customer visibility
Core BusinessStrategic Cooperation
Gated CooperationOpen Source
automotive specific
customer visibility
Core BusinessStrategic Cooperation
Gated CooperationOpen Source
BUSINESS COOPERATION STRATEGY
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Linux, Yocto, connmanAUTOSARDevelopmentPartnership
Remote Control Parking, Driving Assistance
automotive specific
customer visibility
Core BusinessStrategic Cooperation
Gated CooperationOpen Source
BUSINESS COOPERATION STRATEGY
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Operating Systemand Isolation Mechanisms Communication
Middleware
Model-based Development
Diagnostics
Vehicle-wideSoftware Update
20052004 2008 20152011 2013 2014
COMMUNICATION MIDDLEWARE
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DDS 1.x standard from OMGOpen and proprietary implementations from multiple vendors
SOME/IP protocol from AUTOSARone standard, multiple implementations
C Runtime Environment (RTE) from AUTOSARone standard, multiple proprietary implementations
CommonAPI C++ from Geniviopen-source, developed mainly by BMW
Adaptive AUTOSAR Communicationone standard and reference implementation
ROS 1.x from Open-Source Robotics Foundation (OSRF)open-source, developed by an open-source foundation, large community
ROS 2.0 from OSRFopen-source, based on DDS
automotive domain
robotics domain
2017
COMMUNICATION MIDDLEWARE
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 10
CommonAPI C++ from Geniviopen-source, developed mainly by BMW
Adaptive AUTOSAR Communicationone standard and reference implementation
ROS 1.x from OSRFopen-source, large community
ROS 2.0 from OSRFopen-source, based on DDS
Convergence due tosame industry & development company same protocol & similar terminology
Convergence intended by design
COMMUNICATION MIDDLEWARE
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Adaptive AUTOSAR Communicationone standard and reference implementation
ROS 2.0 from OSRFopen-source, based on DDS
Convergence?• Use within same organisations:
• BMW, Bosch et al. develop Adaptive AUTOSAR• BMW, Bosch et al. use ROS for research
• Complementary strengths:• AUTOSAR is strong on Specification• ROS is strong on Implementation and Tooling
• Adoption with next-generation employees:• ROS is used and taught in university• Automotive industry currently hires many
graduates
• API design and behavior:• API follows similar design patterns• Slightly different service discovery• Different terminology
automotive domain
robotics domain
SAFETY & REAL-TIME
- 2013:
- PREEMPT_RT patches out-of-tree
- Minimal funding for maintenance by OSADL
- 2017:
- Linux Foundation funds Gleixner et al. to make PREEMPT_RT main-line
- 2013:
- safety-related software developmentin C with dedicated operating systems
- 2017:
- safety-related software developmentin C++14
- SIL2LinuxMP createsSIL2 safety qualification for Linux
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Safety-Related Software Real-Time Linux
CONCLUSION
- General Perception on Linux & Open-Source has evolved:
- Still Much Work ahead:
- Convergence of Adaptive AUTOSAR’s communication specification and ROS 2.0 efforts
- Long-term collaborative model for a safety-qualified Linux- Main-line work on real-time capabilities in Linux
BMW Car IT GmbH is currently hiring!
http://www.bmw-carit.de/opportunities/
An Open-Source Software Platform for Autonomous Driving Systems | BMW Car IT GmbH | February 5th, 2017 Page 13
“Linux isnot good enough”
“Linux is good, butis not good enough for
safety”
“Linux isgood enough for safety,just did not prove it yet”