Autonomous Vehicles Teresa Yienger What is an Autonomous Vehicle? ● Level 0: No automation ● Level 1: Function Specific Automation ○ Most Functions controlled by driver, some functions can be done automatically by the vehicle ○ Ex.Cruise Control, Automatic Braking ● Level 2: Combined Function Automation ○ This level involves automation of at least two primary control functions designed to work in unison ○ Ex. Adaptive Cruise Control combined with Lane Centering ● Level 3: Limited Self Driving Automation ○ Enables the driver to cede full control of all safety-critical functions under certain traffic or environmental conditions, needs driver to handle more dangerous conditions ● Level 4: Full Self Driving Automation ○ The vehicle is designed to perform all safety-critical driving functions and monitor roadway conditions for an entire trip History ● 1980’s- Team at Bundeswehr University Munich in Germany developed a vision guided vehicle that navigated at speeds of 100 kilometers per hour without traffic ● 1995- NavLab 5 drove across the country the vehicle steered autonomously 98 percent of the time while human operators controlled the throttle and brakes. ● 2003-2007- DARPA held three “Grand Challenges” where research teams developed vehicles that were autonomous for competition in a 150-mile off-road race ● 2013- Google logged more than 500,000 miles of autonomous driving on public roads without incurring a crash ROS ● Open Source Framework ● OS in concept ○ hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management ● Each task encapsulated in an ROS node ● Support code reuse in robotics research and development ○ Good for prototyping Advanced Driver Assistance Systems ● LIDAR ○ Main sensor, Highly Accurate ○ Mapping, Localization,and obstacle avoidance ● Camera ○ Object recognition, Object tracking ○ Lane, Traffic Light, Pedestrian Detection ● GPS/IMU ○ Vehicle Localization Infotainment Systems ● Enable drivers to connect to a wide variety of multimedia and Internet-enabled connected services and technology for information and entertainment purposes. ● Common Operating Systems ○ Windows Embedded Automotive 7 ○ Linux ○ Android Automotive OS Considerations ● Processing pipeline needs to be fast enough to consume the enormous amount of sensor data generated ● If a part of the system fails, it needs to be robust enough to recover from the failure ● The system needs to perform all the computations under energy and resource constraints OS Security ● A strong identification and authorization mechanism ● Discretionary access controls ● Quotas to protect the device from running out of disk, memory, or CPU ● Residual information protection ● Partitioning ● Audit facilities to capture significant system events and perform security monitoring of these events. To get engineers, designers, companies, and consumers to fully embrace the autonomous car will require a dedication to systems built on a secure hardware and software foundation. Security features will need to include: ● Hardware based root-of-trust, e.g., secure boot, OS authentication, encryption, and management of cryptographic keys and signatures generated during manufacturing ● Real-time priority processing for critical safety functions ● Continuous monitoring of automotive software and hardware processes https://www.wired.com/2017/04/ubers-forme r-top-hacker-securing-autonomous-cars-reall y-hard-problem/ http://mil-embedded.com/articles/securing-c onnected-embedded-devices-using-built-in-r tos-security/ Intel INTEGRITY RTOS ● Goal: Run Safety Critical and Infotainment Applications on same System on a Chip ● Use Virtualization to introduce a software separation layer via hypervisor that allows applications to run in VM’s ● Secure Partitions ● Provides guaranteed system resources that ensure CPU time and memory resources are always available to individual processes ● Partnered with Google’s self driving car company Waymo QNX ● QNX SDP 7.0- QNX Neutrino RTOS ○ QNX Neutrino real-time operating system (RTOS) is a full-featured, multi-core operating system with advanced security and fault containment mechanisms built directly into the OS and kernel, with flexible graphics technologies ○ Microkernel Architecture ○ Self Healing systems ○ Layered Security Mechanisms ○ POSIX Compliant ○ Partnered with Ford, Jaguar Questions?.