【架构分析】Apollo 自动驾驶平台Framework与Dreamview架构分析

目录

Apollo Software Architecture Overview

Why Apollo is not good

Dive into Apollo3.0 Dreamview

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Apollo Software Architecture Overview

Apollo 3.5 Software Architecture

• Cyber Framework is a collection of software frameworks for self-driving application development, providing operating system-like functionality on a heterogeneous computer.
• RTOS: Linux Kernel 4.4.32 with Realtime patch https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO

Why Apollo is not good

Apollo Cyber Framework

From the point of AUTOSAR developer in automobile industry, not so much safety and security functional cluster will cause:

• It fails to detect there is failure of ECU on vehicle network
• it fails to have sleep synchronization on different vehicle sub-network
• it fails to have power on/off synchronization on vehicle network
• it fails to have signal to SOMEIP mapping
• It fails to detect process/functional cluster error and recovery machnism
• Dynamic resource limitation for application
• OTA security

Open Software Platform

Baidu focus on user level AD function, lack of 3 pillars in Adaptive Platform design

• dynamic and updates
• Communication and coordination distributed system in vehicle network
• safety and security

Linux kernel is not safe RTOS for production

Hardware Connection

 

Dive into Apollo3.0 Dreamview

Apollo 3.0 Architecture

Why Apollo 3.0 ?

• There is bug in Apollo master branch(3.5)  that cause dreamview fail
• I submit and root cause the bug in github https://github.com/ApolloAuto/apollo/issues/6187 and Apollo team will fix it in 2019.1 release

ROS Basic Knowledge

 

dreamview Computation Graphic

 

dreamview Computer Graphic Sequence

Dreamview Sequence Illustration