The Future Autonomous Driving Techniques and Test Challenges. Sr. Project Manager / Keysight Technologies

Transcription

1 The Future Autonomous Driving Techniques and Test Challenges Sr. Project Manager / Keysight Technologies Brian Su Taipei

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4 Autonomous Driving & e-mobility Data Source: WHO, US EPA 4

5 Traffic congestion has been increasing all over the world as results of increased motorization, urbanization, population growth, and changes in population density. Congestion reduces efficiency of transportation infrastructure and increases travel time, air pollution, and fuel consumption Nearly 1.3 million people die in traffic accidents each year with an additional million injured or disabled. Traffic accidents cost USD $518 billion globally, 1-2% of annual GDP of some countries. Road accidents cost low and middle-income countries USD $65 billion annually, exceeding the total amount received in Developmental Assistance. 5

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8 S E N S O R S RADAR Camera LIDAR Used for Detection - distance (range) and motion (velocity, angle) by radio waveforms Applications Adaptive Cruise Control, Automatic Emergency Braking Systems, Blind Spot Detection, Parking Assistance Advantages Working in all environmental conditions Light weight Longer detection distance than LIDAR Limitations Limited information of detected obstacles Lower resolution than LIDAR Recognition, classification by images Traffic Sign Recognition, Land Keep Systems, Parking Assistance, Blind spot detection, ACC, AEBS Lower cost Smaller sensor size High resolution Color recognition Imaging processing Various performance in some environments (e.g. weather, lighting) 360 3D view by laser / light Emergency Brake Assist for Pedestrian, Crash Imminent Braking, Mapping High accuracy High resolution Intelligent signal processing with large amount of captured data (still) expensive sensor (still) big sensor size Expensive and complicated signal/data management Affected by weather 8

9 A P P L I C AT I O N E X A M P L E S Auto Emergency Braking / Pretensioning Seatbelts Blind Spot Monitoring Making Roads Safer with 360 Degree Vision! Lane Change Assist Real Collision Protection Making Autonomous Driving Possible! Automotive Radar Webcast Adaptive Cruise Control Stop & Go Cruise Control 9

10 R A D A R T E C H N O L O G I E S S AV E L I V E S - E X A M P L E F R O M D A I M L E R 10

11 H I G H F R E Q U E N C Y & W I D E B A N D W I D T H M I L L I M E T E R W AV E ( 7 7 / 7 9 G H Z ) Benefits Better spatial angular (smaller wavelength), velocity (doppler), and range resolution Higher range (up to 300 meter) Smaller and lighter sensor Rapid signal attenuation (better for interference), improved interference mitigation Higher attenuation per km higher spectrum reuse (sharing) scheme on the busy road Better power efficiency (less emission power lower possibility of interference issue) Source: CEPT Report 37 Fig.1 Comparison of sensor performance showing key parameters Angular resolution, Range resolution, Doppler resolution 11

12 H I G H F R E Q U E N C Y & W I D E B A N D W I D T H M I L L I M E T E R W AV E ( 7 7 / 7 9 G H Z ) Benefits Better spatial angular (smaller wavelength), velocity (doppler), and range resolution Higher range (up to 300 meter) Smaller and lighter sensor Rapid signal attenuation (better for interference), improved interference mitigation Better power efficiency (less emission power lower possibility of interference issue) Challenges Higher propagation loss Phase noise, IQ and frequency response errors degrade Repeatability More noise to impact on EVM Complex test set up Generate and characterize accurate wide bandwidth millimeter wave signals Higher attenuation per km higher spectrum reuse (sharing) scheme on the busy road 12

13 M O D U L AT I O N ( F M C W ) Benefits Avoid high peak-to-average power ratio (PAPR) in transmission Simplifies the design process for antennas and RF components (narrow-band IF processing) Good performance with simplified RF components small size, light weight, and low cost. Improved noise floor Interference tolerance Reduced RF intermodulation Simpler / easier waveform to generate (compared to very narrow, high power pulsed) Constant high average power, without requiring high peak powers, managed close-in blind-range issues (always transmitting and receiving) Fig.4 FMCW diagram and frequency detection 13

14 M O D U L AT I O N ( F M C W ) Benefits Avoid high peak-to-average power ratio (PAPR) in transmission Simplifies the design process for antennas and RF components (narrow-band IF processing) Good performance with simplified RF components small size, light weight, and low cost. Improved noise floor Interference tolerance Reduced RF intermodulation Simpler/easier waveform to generate (compared to very narrow, high power pulsed) Constant high average power, without requiring high peak powers, managed close-in blind-range issues (always transmitting and receiving) Challenges FM Linearity modulation quality Phase Noise and AM Noise of transmitter RF leakage from Tx to Rx Dealing with clutter from multiple undesirable reflections between sensor and targets Dealing with interference from other radar sensor band users Thermal Power Challenges 14

15 O V E R W H O L E D E S I G N A N D T E S T L I F E C Y C L E PXI Modular VSA/VSG/Digitizer /Network Analyzer W1908 SystemVue Simulation SW VSA SW with FMCW option E8740A-060 Performance SA E-Band Power Sensor and Meter Architecture / Design Development Validation & Mfg. E8740A-070 Performance SG E8267D PSG Vector Signal Generator Signal Studio for Pulse Building Signal Source Analyzer PNA Network Analyzers Banded mmw Solution Radar Target Simulator (RTS) From Design Simulation, Wide Bandwidth mmwave Signal Generation & Automotive Radar Webcast Analysis, Precise Power and Component Measurements to Manufacturing Tests 15

16 M U S I C A O A S I M U L AT I O N MUSIC AoA Multiple Signal Classification, algorithm used for frequency estimation and emitter location High resolution digital beamforming method with sensor array is required Estimated by investigating the phase difference by a time delay 16

17 L I N E A R F M C W M U LT I - TA R G E T D E T E C T I O N Using single tone of linear FMCW signal with up-chirp and down-chirp with echo and beat frequency of every targets, users can simulate the multi target detection and show them in rangevelocity diagram. Showing three targets detected and shown in range-velocity diagram 17

18 3 D A U T O M O T I V E R A D A R S C A N Needed target elevation angle information Azimuth angle as well as range and velocity 3D Automotive radar scan Leveraging 2D scan system, additional elevation region scan is needed With MN planer array, the spaces can be divided into azimuth, elevation, and angle grids to realize and visualize 3D scan Designers can obtain the various simulation results in numeric, sliced 2D and 3D space distribution in SystemVue Creating 3D scan scenarios with platform and target position, velocity, target RCS and more parameters, designers can visualize the results in various traces and distribution plots. 18

19 M I L L I M E T E R W AV E T E S T S E T U P E X A M P L E 19

20 M I L L I M E T E R W AV E T E S T S E T U P E X A M P L E mmw Signal Generation with simulated signals M8195A AWG N5183B MXG mmwave Module mmw Signal Analysis 20

21 S I M U L AT I O N A N D T E S T R E S U LT S Two objects, 10 cm apart, FMCW, 1 GHz and 4 GHz modulation bandwidths Simulation result (left) and Measurement result (right) 21

22 F L E X I B L E A N D C O M P L E X M O D U L AT I O N S I G N A L G E N E R AT I O N IQ Tools W1908 SystemVue Auto Radar Library N7608C Signal Studio Frequency Range Parameters E8740A-070 Performance SG DC to 25GHz, 60GHz to 90GHz Signal Bandwidth for IF/RF IF/RF up to 25GHz 3dB Bandwidth for mmw Pout1dB Amplitude flatness (at SMA connector,* compensated for sin(x)/x) 5GHz for 79GHz Fc (with correction) -14.6dBm@76GHz -13.5dBm@79GHz ± 2 db (typ), fout= DC to 10 GHz +2 db, -3 db (typ), fout = 10 to 25 GHz (typ) Amplitude resolution 200uV (nom) DAC resolution 8Bit AWG Sample rate GSa/s to 65GSa/s Key Features Download Radar FMCW signals from either: SystemVue, IQ Tools, Signal Studio, or others Generate ideal reference signals (replace Tx LO / VCO) Generate interferer, clutter, jamming test signals (Rx Test) Sample Memory (Internal / extended) Frequency Switching time MIMO and beam forming mmw Modulation signals E8740A Automotive Radar Signal Analysis and Generation solution 1 MSa / 16GSa 505us / 38ps (opt FSW) Expandable to 16 synchronized channels FM, PM, FMCW, pulse sequence, MFSK, custom OFDM, *Measured at Data Out. 22

23 I N D U S T R Y S M O S T P O W E R F U L A U T O M O T I V E R A D A R S I G N A L A N A LY S I S E8740A-060 Performance SA Key Features With N9041B UXA Continuous Freq sweep 3Hz~ 110GHz 5GHz BW (with external oscilloscope) Up to 1GHz internal BW with adding opt H1G -150dBm/Hz DANL up to 110 GHz Dual input rugged 2.4mm and 1mm connector 50M RBW with adding opt H1G and opt RBE RF Power, Harmonic and spurious, Spectrum Emissions, OBW, Frequency Stability Phase Noise with N9068C Noise Figure with N9069C and opt P50 at input port 1 (up to 50GHz) With DSOS804A Scope and VSA s/w 10 Bit ADC up to 8GHz bandwidth with minimum resolution : mv) 4x better resolution than RTO 8 bit ADC Analog/Digital I/Q input Key Measurements RF Power Spectrum Emissions Phase Noise Frequency Stability Modulation Quality E8740A Automotive Radar Signal Analysis and Generation solution 23

24 F L E X I B L E F M C W S I G N A L A N A LY S I S I N S P E C T R U M & T I M E D O M A I N S VSA Key Features: Automatically synchronize to FMCW radar signals comprised of multi-chirp linear FM modulation patterns. Synchronized Amplitude & Phase Synchronized Frequency (FM) Modulation Reference Signal Correlation between Received and Reference Signal Reference Signal Correlation between Received and Reference Signal FMCW Region Tabular metrics Power and Time Best-Fit FM Phase Error FM Error FM Slope Error 24

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26 R A D A R TA R G E T S I M U L AT O R ( R T S ) B A S I C F U N C T I O N A L I T Y Basic Functionality 1) Radar DUT signal is received 2) Signal is manipulated in the Radar Target Simulator 3) Signal is then re-transmitted back to the Radar DUT 1 meter min. physical distance Radar Target Simulator will apply Time delay Doppler Frequency Shift Attenuation to simulate Range (Distance) Radial Velocity (Speed) Radar Cross Section (Object Size) 26

27 R A D A R TA R G E T S I M U L AT O R ( R T S ) O V E R V I E W Manufacturing Test concept and Capabilities Frequency Band : E8707A 76-77GHz ; E8708A 76-81GHz Bandwidth : E8707A 1GHz ; E8708A 4GHz Single Target Range : E8707A 10m to 450m ; E8708A 4m to 300m RCS Range 63.5 db attenuation (with 0.5dB step) Speed 0 to +/- 360Km ; Step 0.1Km/h User Interface 27

28 R A D A R TA R G E T S I M U L AT O R ( R T S ) B E N E F I T S Key Product Specifications and Features E8707A / E8708A Radar Target Simulator Frequency Range Transmit and Receive horn Radar Signal Occupied Bandwidth Min Target Distance Simulated Range Doppler shift range Transmit/Receive Gain Control (object target size) Dimension (H x W x D) E8707A (76 77 GHz) ; E8708A (76 81 GHz) Single and Dual Horns antenna options E8707A 1 GHz ; E8708A 4 GHz E8707A 10m ; E8708A 4m E8707A 10 to 450m or E8708A 4 to 300m with 1m step +/- 360km/h with 1km/h resolution 63.5 db with 0.5dB step x x 574 (mm) Wide simulated range coverage with minimum distance starting from 10m or 4m 1GHz or 4GHz Bandwidth support wide range of module without the need of changing center frequency Scalable for both Manufacturing and R&D test Basic Fixed range simulation (ie 75m & 150m) Comprehensive Full range, RCS, Doppler & DUT Transmit Power Reliable, accurate and repeatable performance Ease of use GUI and API where all parameters controllable in C++ & C# programming environment Designed, manufactured and supported by single company Keysight Technologies World wide support, calibration and warranty Default 3 years factory warranty Optional upgrade with onsite calibration, onsite spare and 7x24 support packages CE and Safety certified 28

29 Connected cars are those that have access to the Internet and a variety of sensors, and that are thus able to send and receive signals, sense the physical environment around them, and interact with other vehicles or entities. Autonomous vehicles (also known as self-driving cars or robotic cars) are motor vehicles that operate without a human driver, which reduces the cost of transportation and improves convenience and (in most cases) safety. 29

30 E L E C T R O N I C T E C H N O L O G I E S S AV E L I V E S - E X A M P L E F R O M D A I M L E R

31 L E V E L O F A U T O N O M O U S D R I V I N G S Y S T E M W I T H V 2 X E N G A G E M E N T <Estimated number of ADAS components> Source: STRH Analysis 31

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36 Reserve 5 MHz R E C H A N N E L I Z AT I O N CH MHz CH MHz CH 172 DSRC CH 174 Service Ch 173 Service 10 MHz 20 MHz 10 MHz CH 176 DSRC CH 178 Service Ch 177 Control 10 MHz 20 MHz 10 MHz CH 180 DSRCCH 182 Service SafetyService 10 MHz 10 MHz 10 MHz CH 184 Service 10 MHz 20 MHz 20 MHz 20 MHz 20 MHz 40 MHz 40 MHz 80 MHz WiFi Overlap 160 MHz Additional U-NII WiFi Proposed Channels Move V2V Safety from Ch 172 to upper band (non overlap portion) DSRC use 20MHz channels in overlap portion (instead of 10MHz channels) Cancel highest 20MHz WiFi (Ch 181) 36

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38 D S R C A N D C - V 2 X C O M PA R I S O N p C-V2X Readiness IEEE p, approved in GPP Rel.14, fixed in 2017 Cost Effectiveness Leveraging the cellular network infrastructure Network Independency Ad-hoc LTE D2D on PS5 Scalability 4G 5G Latency Less than 5ms LTE D2D (5G s goal: 1ms) Security Range Reliability Network based FDM / Turbo Channel Coding, SC- FDM, HARQ Same as above Positioning Limited V2I / V2R V2N / V2I / V2R 38

39 P D S R C T E S T C A S E S IEEE Test Case a p Transmitter Receiver Transmitter Power IEEE : Annex D.2.2 FCC: 47 CFR[B8] Sec ETSI Sec. 6.3 Spectrum Mask IEEE : Annex D.2.3 FCC: 47 CFR [B8] Sec ETSI: Sec 6.4 Transmission spurious Same as a Center frequency tolerance ±20 ppm for 20 MHz/10MHz ±10 ppm for 5 MHz Symbol clock frequency tolerance ±20 ppm for 20 MHz/10MHz ±10 ppm for 5 MHz Center frequency leakage Same with a Spectral flatness Same with a Constellation error Same with a Modulation accuracy Same with a Minimum input sensitivity Sensitivity for 5 MHz and 10 MHz 20 MHz is same with a Adjacent channel rejection db stricter than a Non-adjacent channel rejection db stricter than a Maximum input level Same with a Clear channel assessment dbm for 20 MHz -85 dbm for 10 MHz -88 dbm for 5 MHz Received Channel Power Indicator Measurement Same with a 39

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