System Architecture Design Suitable for Automated Driving Vehicle: Hardware Configuration and Software Architecture Design 2021-01-0073

Our L2-automated driving system enabling a driver to take his/her hands off from the steering wheel is self-operating on a highway, allowing the vehicle to automatically change lanes and overtake slow-speed leading vehicles. It includes an OTA function, which can extend the ODD after the market launch. To realize these features in reasonably safer and more reliable ways, system architecture must be designed well under hardware and software implementation constraints. One such major constraint is the system must be designed to make the most out of the existing sensor configuration on the vehicle, where five peripheral radars and a front camera for ADAS as well as panoramic-view and rear-view cameras for monitoring are available. In addition, four LiDARs and a telephoto camera are newly adopted for ADS. Another constraint is the system must consist of reliable redundant components for fail-safe operation. When one component is dysfunctional due to a malfunction or temporal system limitation, others must keep the functionalities properly so that vehicle control is maintained without loss of sight of the surrounding objects for at least four seconds so that the driver can reasonably safely resume manual driving. To attain a high-level of backup controllability and visibility, we employ the redundant sensor configuration along with a redundant battery, steering and break actuators, and communication channels. We have also designed the ECU where a high-performance SoCs and highly-reliable MCUs are mounted to achieve ASIL-D. A further constraint is the limited computational resources for embedded systems. Our ADS constitutes many functions: localization, object recognition, map-based lane generation, path planning, vehicle controlling, backup vehicle controlling, and HMI. It is designed so that each function can take advantage of the CPU core exclusively as much as possible so as to be less disrupted by other working functions.