Agile_Development_of_Software_Platform_Baidu.pdf

AGile development of ADAS

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26-Apr-23

3. Strategy of Baidu Intelligent Driving Group
36-Apr-23
Apollo in intelligent vehicle、intelligent traffic、Robotaxi
builds core power for growth apart from mobile business
ApolloGo •Provides Robotaxiservice for private customer
ASD
Apollo Self-Driving
•Provides intelligent vehicle solutions for
business customer
ACE
Apollo Connected
Efficient Mobility
•Provides intelligent traffic solution (V2X), already
deployed in 51 cities
Robotaxi
Private cars
City traffic
Improvement of traffic
efficiency can increase 2.4%-
4.8% GDP of China
Robo Car JiDUROBO 01
The 6
th
Gen. Robotaxiof Baidu-
RT6
Navi
Map

4. BaiduASDProducts Matrix
46-Apr-23
An important component of intelligent
cockpit
HD-MapHMI-MapNaviMap
Duer OS Duer SDK
IntelligentCockpit
Intelligent Map
Apollo Robo-Cabin
DomainController+SDK
Cooperate with intelligent driving
HMI + HD Map
ANP2.0
Apollo Navigation
Pilot (Highway)
AVP
Apollo Valet
Parking
IntelligentDriving
ANP3.0
Apollo Navigation
Pilot (Highway +
Urban)

5. Roadmap of Baidu intelligent driving products
integration of 3 scenes
56-Apr-23

6. Software Architecture of Intelligent Driving Domain Controller
66-Apr-23
SoC
POSIXOS(Linux/QNX)
Hardwareabstractionlayer(硬件抽象层 )
ServiceLayer
FrameworkLayer
ApplicationLayer
Kernels&OSDrivers
MCU
AUTOSAR
OS
AUTOSARRuntimeEnvironment
Applications
HMIlayer
ApolloOSBuilt-inService
OS-levelService
Localization VisualPerception
Perception
PNC
IntelligentDrivingService
Cloud system
Services
HWAbstraction
Drivers

7. SOC1
MCU1MCU0
SOA architecture based on DDS within controller
76-Apr-23
SOC0
APP APP
APP APP APP
APP APP
•Dynamic publish and subscribe services base on data. Enables flexible deployment of applications
•Enhanced QoS services based on data fulfills requirements on real-time, reliability and data sequence.
•A DDS stack is integrated in MCU based on Eth stacks of AUTOSAR CP
•ASIL-Dauthenticated
DDS Databus
APP

8. Challenged in MCU software development
86-Apr-23
Tight coupling software
components.
Simultaneous development of several
projects on the same controller
platform. Maintenance of several
development branches
ProjectA
Requirements change
frequently. Shorter
development cycles
ProjectB
ProjectC

9. 96-Apr-23
Core principles of AUTOSAR：
•Decoupling between SW
and HW
•Modulation of SW
•Standardization of
interfaces

10. Improvement of SW Architecture
106-Apr-23
Platform SW
Base SW A Base SW B
ProjectA
Platform SW
ProjectB
Mainline SW architecture:
•Platform SW: core logics independent from
projects specific requirements and external
interfaces
•Base SW: project-specific and vehicle types
relevant logics
Loosely coupling：
•Modulation of SW. Define clear boundaries
between components
•Define interfaces for data exchange
between modules

11. Methodology of mainline SW architecture
116-Apr-23
SW layers:
•AUTOSAR BSW belongstoBase SW
•Most CDDs are Platform SW
•Signal abstraction makes most APP independent
from projects
•Define interfaces between Base SW and Platform
SW
SW Management
•One Platform repository and several projects
Base repositories
•Platform SW + Project Base SW = Project
Output
•Changes in Platform SW work on all projects
•Quality assurances with help of CICD

12. Agile development of MCU software in intelligent driving
domain controller
126-Apr-23
Release delivery of domain controller
•Release plan
•SWdevelopment
•Module tests
•Integrationtests
•Bugfix
•SW Release
MCUSW releases
1week
•SW requirements
•SW design
•SWdevelopment
•SW tests
•Verification and validation
MCU SW development
2~3months
1 day
RD CICDserver
Pushcodes
Coderepo
CICD
results
•Daily plan
•Coding
•Continuousintegration
•Continuous deployment

13. Close loop
136-Apr-23
Vehicletests
log and data of test
and problems
SW improvement
Dataanalysis
New output
Rapidly
deployment
Data server

14. CICD Design
146-Apr-23

15. BaiduOEM
Joint-development in MCU based on AUTOSAR
156-Apr-23
ECUExtract
.arxml/ .dbc
SWCdescription
.arxml
SWCimplementation and
interface definition
.c, .h
AUTOSARdevelopment
and configuration tools
MCUimplementation and
interface definition
.c，.h
MCUbase project
.obj
Local compiling
and tests
SWC object文件
.obj
Integration
Binaryfile
.hex
Integration
test
Vehicle
integration test

16. Summary
166-Apr-23
•MCU modulation and mainline SW architecture makes simultaneous development of one platform
for several different projects and vehicle types possible
•With the help of agile development and CICD, the rapidly changing requirements are fulfilled and
the quality of deliveries is assured.