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Sensor Fusion and Data-in-Motion Processing

for Autonomous Vehicles

Endric Schubert, Ph. D.

CTO

Missing Link Electronics (MLE)

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Disclaimer

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Presentation Disclaimer: All opinions, judgments, recommendations,

etc. that are presented herein are the opinions of the presenter of the

material and do not necessarily reflect the opinions of the PCI-SIG

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Acknowledgements

o Ulrich Langenbach, Dir. Eng. – Missing Link

Electronics

o Jim Peek, Dir. Technology – Missing Link

Electronics

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Autonomous Vehicles

Better: Automated - not autonomous - driving

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CES 2019: Multi-GPU/SoC ECUs

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System Overview L4 AV

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Data-in-Motion Processing

o 100 Gbps raw bandwidth, or more

o Data Granularity Issues

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Pixels Lines Frames

Bytes Kilo Bytes Mega Bytes

Up to 16 Cameras @2.5 Gbps

Up to 4 Radar @ 1..10 Gbps

Up to 4 Lidar @ 1..10 Gbps

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Algos Drive Compute Needs

Combine classical image processing with DNN

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PCIe

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Comes to the Rescue!

o Relevant CPUs/GPUs/SoCs all have PCIe!

o ᾇ Build ECU with “PCIe network”

• Industry standard, relevant chips all have PCIe

• Low latency (micro-seconds)

• High bandwidth (tens of Gigabits per second)

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PCIe Non-Transparent Bridge

o Non-Transparent Bridge (NTB) connects multiple Root Ports

o Example of NTB Back-2-Back

(Example from Intel Xeon C5500)

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PCIe NTB – A Defacto Standard

o “Using Non-transparent Bridging in PCI

Express Systems” – Jack Regula, 2004

o Linux NTB from Jon Mason

o Supported by Linux kernel

• ntb.h

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NTB - Programmer’s View

o Great, a network device!

o R/W via TCP sockets

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Automotive Comm. Standards

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PCIe NTB via Daisy-Chain

o Not optimal for Automotive ECU

• Shared Bandwidth

• Not resilient to HW failures

• Added Latency for ID translation

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(Example from Intel Xeon C5500)

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PCIe Non-Transparent Bridge

Network-on-Chip for Any-2-Any Connectivity

between PCIe Roots

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FPGA-Based NTB Architecture

MLE Level-4 AV Platform

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Data Acquisition & Preprocessing

FPGA technology enables

• Flexibility to deal with

sensor i/f

• Sensor fusion

• Data Acquisition and Data

Preprocessing (DADP)

• Data-in-motion

preprocessing

• Functional safety (monitor

compute nodes & re-route)

• ECU Scale up /

ECU Scale out

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Delivering Performance

Write-Only Communication via Doorbells - NVMe-style

o Avoids difficulties

of multi-device

o Scales to >32 RCs

o Posted Writes

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Peer-2-Peer Communication

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Secure, Reliable, Resilient

o Security / Reliability / Dependability:

single host cannot take entire system down!

• local configuration of local properties

• receive side memory protection,

• incoming traffic for memory space not configured is

discarded and reported (especially useful for (embedded)

devices without IOMMUs)

• shielded global NTB config (orthogonal control path for

inter NTB connectivity / routing from Primary NTB to

Secondary NTB)

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Fail-Overs

o ECU-2-ECU via

automotive

10/25/50G Ethernet

o Detect PCIe failure

via AER

o Intra-ECU re-route

o Inter-ECU re-route

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System-Level Verification

o Use of Xilinx VIP for PCIe + PCIe Root Agents with scripted testcases

o Questa Prime PIPE-Level Sim runs ~ 180 seconds

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System-Level Verification

o Simulation-based performance close to theoretical max:

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# Run Test Case 60, MLE NTB bandwidth, single peer to peer, TLPs w/ 256 bytes payload, 131072

bytes total

# 213928.00 ns: data transfer, RPA0 to RPA1, duration: 41828.00 ns, bandwidth: 3.133595 GB/s

# 259828.00 ns: data transfer, RPA0 to RPA2, duration: 45896.00 ns, bandwidth: 2.855848 GB/s

# 301644.00 ns: data transfer, RPA1 to RPA0, duration: 41812.00 ns, bandwidth: 3.134794 GB/s

# 347532.00 ns: data transfer, RPA1 to RPA2, duration: 45884.00 ns, bandwidth: 2.856595 GB/s

# 389304.00 ns: data transfer, RPA2 to RPA0, duration: 41768.00 ns, bandwidth: 3.138096 GB/s

# 431092.00 ns: data transfer, RPA2 to RPA1, duration: 41784.00 ns, bandwidth: 3.136895 GB/s

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Lab Setup

ProFPGA ZU19 Prototyping System with

multiple x86 as PCIe Root and

cable PCIe Edge-to-Edge, male-to-male, crossed

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Results of Performance Analysis

o iPerf – TCP bandwidth measurement (x86)

dummy@buche:~/src/sw/ntbpi$ iperf -s

------------------------------------------------------------

Server listening on TCP port 5001

TCP window size: 85.3 KByte (default)

------------------------------------------------------------

[ 4] local 192.168.1.3 port 5001 connected with 192.168.1.7 port 33686

------------------------------------------------------------

Client connecting to 192.168.1.7, TCP port 5001

TCP window size: 2.01 MByte (default)

dummy@ahorn:~/src/sw/ntbpi$ iperf -c 192.168.1.3 -t 28800 -i 60

------------------------------------------------------------

Client connecting to 192.168.1.3, TCP port 5001

TCP window size: 1.25 MByte (default)

------------------------------------------------------------

[ 3] local 192.168.1.7 port 33690 connected with 192.168.1.3 port 5001

[ ID] Interval Transfer Bandwidth

[ 3] 0.0-60.0 sec 90.9 GBytes 13.0 Gbits/sec

[ 3] 60.0-120.0 sec 91.0 GBytes 13.0 Gbits/sec

[ 3] 120.0-180.0 sec 91.9 GBytes 13.2 Gbits/sec

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Conclusion

o To build multi-CPU/GPU/SoC AV ECUs we combine

existing PCIe specification with

defacto industry standards (Linux NTB)

o Single chip solution based on automotive-grade

SoC-FPGA

• Delivers performance close to theoretical max.

o Devil in the details:

• Interrupt schemes: MSI vs MSI-X

• Functional Safety vs Surprise Hotplug

• Where to put DMA?

• CPU side?

• FPGA side? Local write vs remote write?

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Thank you for attending the

PCI-SIG Developers Conference 2019.

For more information please go to

www.pcisig.com

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