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iSWACO ARGUS

iSWACO-ARGUS

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112 views4 pages

iSWACO ARGUS

iSWACO-ARGUS

Uploaded by

fahmi1987
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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iSWACO-ARGUS

Proving Ground Instrumentation & Automation


for Validation of Highly and Fully Automated Driving Vehicles
Efficient Testing of HAD and FAD Vehicles on Public Roads & Proving Grounds

TSV TSV

VUT

SCT

iSWACO-ARGUS is the solution for the verification and validation of the safety relevant dynamic driving task (DDT) features of
partially, highly and fully automated driving systems (ADS), like object detection and response systems (OEDR). It covers all SAE
levels, i.e. from level 1 “hands on” up to level 4 “hands off, mind off - sometimes” and level 5 “hands off, no driver”, with a single
test infrastructure. iSWACO-ARGUS stays for “Swarm Control & Continuous Surveillance” and controls and monitors the
motion behaviour of all vehicles on the proving ground and gives the unmatched flexibility to generate and execute also precise
repeatable tests within real emulated traffic scenarios or even on public roads.
The iSWACO-ARGUS infrastructure can be installed quickly, simply and safely on arbitrary proving grounds and test vehicles.
Thus, it is the testing and automation solution for both, OEMs and testing / homologation organizations.

CAPABILITIES & FEATURES


 Flexible Architecture – easily applicable for existing & new proving grounds regarding infrastructure & topology.
 Cost saving due to the capability to execute individual & fully repeatable test scenarios with minimum personnel effort.
 No steering or driving robots required. Control of Traffic Simulation Vehicle’s (TSV) steering / throttle / braking via vehicle’s
internal actuators or control loops. Therefore iSWACO-ARGUS saves pretty much setting-up time, compared to competing
systems and allows a fast and simple installation on arbitrary existing or new proving grounds and vehicles, worldwide.
 Support of components like steering, brake or diving robots of other manufacturers on demand (ABD, Vehico, Stähle etc.).
 The iSWACO-ARGUS package includes all you need on the proving ground for PAD / HAD / FAD verification, i.e.:
Mobile or stationary iARGUS-CC control center with software iARGUS-CMD for trajectory planning, simulation and
test execution, test visualization in real-time as well as in playback mode, data storage and data analysis.
Localization hardware for 100+ moving objects, i.e. Traffic Simulation Vehicles (TSV), Soft Crash Targets (SCT), Vehicles
under Test (VUT), based on INS/GNSS/ODO technology and cognitive vision, also operable in GNSS denied areas of a
proving ground (allows also testing the VUT under real GNSS outage conditions).
Traffic Simulation Vehicle iTSV-KIA-NIRO as turnkey solution for driverless operation in traffic scenarios
Vehicle guidance & control hardware and software system iARGUS-VCS including Vehicle Control Interface.
Collision warning and avoidance system iARGUS-RCS, based on INS/GNSS and optional iARGUS-MV machine vision.
GNSS RTK correction data acquisition (iREF) and distribution to meet position accuracy on centimeter level (NTRIP).
iMAR’s mobile iDMN Dynamic Mesh Network communication with lowest latency for data, video and voice.
 The implementation covers the recommenda-
tions of the future ISO 22133-1 “Road Vehicles -
Test Object Monitoring and Control for Active
Safety and Automated/Autonomous Vehicle
Testing” standard.
 iSWACO-ARGUS development has been suppor-
ted by one of the largest German testing organi-
zations, intending to be the base of future homologation of automated & autonomous Vehicles under Test up to SAE level 5.

easy to install – covers testing up to SAE level 5 – easy to operate


iSWACO-ARGUS
Technical Data iSWACO-ARGUS
- all data are RMS values, if not otherwise stated -
Localization Performance (on each vehicle): iTraceRT-MVT-500 & iTraceRT-MVT-200/SLN
Position Accuracy: << 10 cm [CEP] INS/GNSS/ODO
< 1.8 m [CEP] w/o GNSS corrections
Velocity Accuracy: 0.02 m/s INS/GNSS/ODO
< 0.1 % of distance travelled during GNSS outages
Roll / Pitch / Heading Accuracy: < 0.1° / 0.1° / 0.1° INS/GNSS/ODO
Gyro / accel Performance iTraceRT-MVT-500: * < 1 °/h & 1 mg day2day, < 0.1 °/h & 0.05 mg AV
Gyro / accel Performance iTraceRT-MVT-200: < 0.07 °/s & 6 mg day2day, < 0.5 °/h & 0.06 mg AV
Heading / Roll / Pitch Range: 0…360° / ±180° / ±90° (no limitations)
Angular Rate Range: ±400 °/s
Acceleration Range: ±5 g (others as option)
Data Output Rate / Bandwidth; data latency: 1…500 Hz / 200 Hz; < 2 ms latency, 1 ms jitter

Interfaces:
Serial Data: 3 x UART RS422 or RS232 (iXCOM, NMEA 0183)
Ethernet: 1 x TCP/IP or UDP (data and status via iXCOM/NMEA)
CAN Bus: ARINC825 or standard protocol (data, status)
GNSS correction data input: RTCM (from iREF-GNSS, iREF-LITE via NTRIP or GSM)
GNSS (GPS/GLONASS/BEIDOU/GALILEO): Active GNSS antenna via TNC or SMA connector
Odometer input: RS422 level (A/B) quadrature signal or pulses fw./bw./dir.
Physical / Operating / Environmental Parameters:
Power Supply Voltage: 24 V DC (10…35 V DC)
Power Consumption: < 25 W resp. < 10 W (incl. integrated GNSS engine)
Dimensions: 187 x 128 x 196 mm (-500), 102 x 62 x 138 mm (-200)
Weight: < 5 kg (iTraceRT-MVT-500, < 900 grams (iTraceRT-MVT-200)
Operating / Storage Temperature; Humidity: -40…+65 °C / -45…+75 °C; 8…100 % rel.
Housing / Protection Category: fully sealed aluminum enclosure / IP 67
Accessories:
Included: - Graphical User Interface (Windows / Linux)
- Operator handbook (usage & maintenance)
- internal data logger (up to 32 GByte), also for the vehicle’s diagnosis interface (CAN / ETH)
Optional: - several cable sets, GNSS and RF antenna fixtures, uninterrupted power supply on test vehicles etc.,
support of local positioning systems (e.g. LOCATA), airborne real-time video supervision of proving ground
- iARGUS-VCS Vehicle Control System and Interface
- iDMN Dynamic Mesh Network, iARGUS-RCS (roof mounted communication & sensor head)
Standards: future ISO 22133-1 (not yet approved by ISO – iMAR is member of the standardization working group)
*
The better the inertial sensor performance (bias, noise, scale factor accuracy, bandwidth etc.), the better the system performance can be kept also during certain GNSS
outages or in urban canyons (i.e. to achieve a lower standard deviation of the measurements). See dedicated datasheet for details. The automotive systems of family
iTraceRT-MVT-500 and iTraceRT-MVT-200 are fully compatible by interfaces and hardware with our common systems iNAT-FSSG, iNAT-FSLG, iNAT-M200 etc.

Typical Traffic Scenario, planned and executed within iSWACO-ARGUS: Stereo vision based automatic environment per-
ception for localization and collision avoidance:

iMAR Navigation GmbH ● Im Reihersbruch 3 ● D-66386 St. Ingbert / Germany


Phone: +49-(0)-6894-9657-0
Fax: +49-(0)-6894-9657-22 © iMAR Navigation GmbH
www.imar-navigation.de Technical modifications reserved w/o notice
[email protected] Rev. 1.12 / 09.11.2018 ● DocNo. DOC170531001
iSWACO-ARGUS
All automation components (hardware and software) on proving grounds – provided by iMAR:
 iMAR’s INS/GNSS localization systems on each vehicle, i.e. iTraceRT-MVT-510, iTraceRT-MVT-500 or iTraceRT-MVT-M200 with
optional vehicle control system (iARGUS-VCS) and uninterrupted power supply. The iTraceRT-MVT series is specifically designed
for automated and autonomous driving vehicles with lowest data latency. Optional cognitive
vision based stereo camera system iARGUS-MV is aiding localization and supports mapping.
 iMAR’s iREF-GNSS RTK correction data acquisition and distribution system for cm accuracy.

 iMAR’s Dynamic Mesh Based Communication Network (iDMN) with optional encrypted Multi-
Car-to-Car and Car-to-ControlCenter communication. Minimum data latency, Fresnel zone
mitigation, fast reacquisition and self-configuration setup. Installation can include a 15 m
antenna mast, mobile hotspots or UAV based data distribution (flying hotspot) with
integrated stabilized HD camera for proving ground test scenario observation (supports fully
automatic take-off, flying and landing; uninterrupted operational time for 12+ hrs as option).

OEM vehicles
(customized)

 iARGUS-CC Control Center with iARGUS-CMD software for test setup, scenario import from OpenScenario
(option), trajectory planning for each vehicle, simulation, test execution, data storage, equipment supervision; incl.
visualization console, iDMN communication, opt. uninterrupted power supply and iREF-GNSS for RTK corrections.
 Traffic Simulation Vehicles of type iTSV-KIA-NIRO or similar with integrated actuator interfaces, as turnkey solution
with trajectory control via iARGUS-VCS / iARGUS-LTG, iTraceRT-MVT based INS/GNS/ODO localization and iDMN-
OHS Dynamic Mesh Communication Network. Examples: OEM vehicles, Audi A6, Kia-NIRO, other on demand.
 Soft Crash Target (SCT) integration into the test setup: Targets from 4a systems, as 4activeFB, including integrated
iTraceRT-MVT for high precision localization, navigation and control, or others from DSD, ABD or DRI on demand.

iMAR Navigation GmbH ● Im Reihersbruch 3 ● D-66386 St. Ingbert / Germany


Phone: +49-(0)-6894-9657-0
Fax: +49-(0)-6894-9657-22 © iMAR Navigation GmbH
www.imar-navigation.de Technical modifications reserved w/o notice
[email protected] Rev. 1.12 / 09.11.2018 ● DocNo. DOC170531001
iSWACO-ARGUS
Functional matrix for object operation during test preparation and execution on the proving ground:

The trajectories to be executed by all swarm vehicles during


the Traffic Scenario (up to 100+ VUT, TSVs, SCTs operable si-
multaneously on demand) and the timing of the active infra-
structure elements ISE (when to change traffic lights, speed
limit information etc.) are generated by the iARGUS-CC Con-
trol Center software iARGUS-CMD or via datasets generated by OpenScenario, CarMaker or similar tools (interfaces customized).

iMAR’s Trajectory Planning, Simulation, Test Execution and Visualization Tool iARGUS-CMD:
Example: Lane change (3.75 m lateral) at 100 km/h with 0.5 g (!) lateral acceleration, driven in fully autonomous mode (factory
expanded) OEM vehicle (by iMAR’s iTraceRT-MVT-200 with iARGUS-VCS incl. actuator interface) on proving ground at Zweibrücken.

iMAR Navigation is known for more than 25 years as the worldwide expert for most reliable localization, navigation,
surveying and control solutions in automotive testing & verification, avionics, defence and industrial applications.
For details, consulutance or support, please feel free to contact our sales or engineering department.

iMAR Navigation GmbH ● Im Reihersbruch 3 ● D-66386 St. Ingbert / Germany


Phone: +49-(0)-6894-9657-0
Fax: +49-(0)-6894-9657-22 © iMAR Navigation GmbH
www.imar-navigation.de Technical modifications reserved w/o notice
[email protected] Rev. 1.12 / 09.11.2018 ● DocNo. DOC170531001

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