GNSS in Autonomous Vehicles MM Vision

Transcription

1 GNSS in Autonomous Vehicles MM Vision MM Technology Innovation Automated Driving Technologies (ADT) Evaldo Bruci

2 Context & motivation Within the robotic paradigm Magneti Marelli chose Think & Decision as the key item for study, development, prototyping, product planning Our framework platform is called: Cognitive Fusion Framework (CFF) 2

3 Automated Driving: Architecture Distributed Mixed Centralized Smart Smart Smart VDe 1.0 Smart VDe 2.0 Smart Actuation Actuation 3

4 From perception to movement Cognitive Fusion Framework Perimeter Actuation Layer Vehicle Control Decision Layer Planning & Decision (Action & Path) Data Fusion Layer Data Fusion Fusion Layer Perception Layer Fusion Lidar Camera Radar Ultrasounds Environmental Awareness Behavioral Prediction Maps & Positioning GPS IMU Visual Odometry Maps [Ref. JDL Model] 4

5 Fusion to create an environmental model & Data Fusion Environment Awareness Behavioral prediction Source: 5

6 Decide if and how to move Action Planning Keywords Risk Assessment Deep Neural Networks Safety Fuel Efficiency Comfort Path Planning Keywords Trajectory estimate 6

7 Localize with high precision Precise GNSS Map Manager & Precise Positioning Precise Inertial sensors HD Maps Lane detection/visual map matching 7

8 Magneti Marelli PoC demonstrated in 2016 Highway use case Automatic Valet Parking use case 8

9 Magneti Marelli PoC under development Urban use case Long distance Highway use case 9

10 Precise Positioning - Precise map: Function It must works in fusion with the whole system. But in failure mode it must be able to work alone. Positioning+map must: Guarantee navigation among the parking spaces in automatic valet parking Guarantee lane keeping in motorway, highway and city boulevards 10

11 Precise Positioning Precise map: Target accuracy Target accuracy: Positioning accuracy : 20 cm Cartography accuracy: 20 cm max error on node coordinates Strategy for achievemnt: Positioning accuracy : Accurate sensors Well designed sensor fusion GNSS Ultra tight integration GNSS PPP RTK Visual Map Matching Cartography: Work on requirements with suppliers 11

12 GNSS Phase detection Strategy Pro s Con s PPP Function suitable for automotive Subscription price not yet at automotive level Receiver price not yet at automotive level RTK Require additional communication channel Low-zero price available, but not world wide spread Receiver price not yet at automotive level 12

13 GNSS Cost consideration COST IS THE BLOCKING FACTOR Reasonable autonomous car price Keuro The cost of a GNSS with phase detection capability is still between 1 and 10 KEuro Automotive cost is the key issue for GNSS success in autonomous driving Receivers Services 13

14 GNSS Cost consideration The strategy is cooperation with suppliers: GNSS engine suppliers PPP RTK corrections providers Points to be exploited : Accurate definition of the products specification s Advantage of automotive level mass production 14

15 Precise Positioning Ultra tight integration Highly promising in terms of GNSS reliabilty/integrity Accuracy increase is espected No added cost in the final product 15

16 Precise Positioning Visual map matching An autonomous vehicle must have Cameras/Laser scanners No added cost in the final product 16

17 Thank you