內部揭秘:奧迪A8教了我們什麼?

作者 : Junko Yoshida,EE Times首席國際特派記者& Maurizio Di Paolo Emilio,EE Times Europe編輯暨EEWeb主編

從技術和經濟兩個角度來看,奧迪A8的最新拆解正好說明了,為什麼實現更高等級的自動駕駛車輛比任何人最初預期的都難。因此,奧迪在A8上的經驗現在仍然很重要,而System Plus Consulting對奧迪A8進行的拆解,對幾個問題提供了寶貴見解…

從技術和經濟兩個角度來看,奧迪A8的最新拆解正好說明了,為什麼實現更高等級的自動駕駛車輛比任何人最初預期的都難。因此,奧迪在A8上的經驗現在仍然很重要。

當奧迪在2017年底推出其重新設計的A8轎車時,該公司吹捧它是汽車產業的首款Level 3汽車。當時奧迪所面臨的技術問題和陌生的成本結構,整個汽車產業現在都仍在面對。System Plus Consulting所進行的拆解,對以下幾個問題提供了寶貴見解:

  • 實現Level 3汽車需要什麼?
  • A8感測器套件中包括什麼?
  • Level 3汽車需要多大處理能力?
  • 奧迪所謂的zFAS中央駕駛輔助控制器是由GPU、SoC、CPU或FPGA驅動的嗎?
  • zFAS的成本是多少?

這可能對奧迪如何使用市場上已有的晶片實現了Level 3功能,並已在其他應用中進行了試驗和測試具有啟發性——尤其是與特斯拉相比,後者在兩年後(2019年)推出了「全自動駕駛電腦」主機板,其主要依賴於兩顆自產的自動駕駛晶片。

System Plus拆解所包括的分析不僅僅包括逆向工程和確定硬體元素,該公司還進行了「反向成本計算」,即估算一家公司在採購特定元件和製造其產品上必須要花費多少成本。System Plus的A8反向成本計算顯示,zFAS的成本有60%(預計為290美元)是由半導體成本所推動。這不足為奇,因為現代汽車中有80%~85%的內容都是電子產品。但是,這項成本相對於總成本來說非常懸殊。

利潤

System Plus CEO Romain Fraux表示,真正使汽車OEM感到震驚的是,沒有任何一家汽車公司願意為每個元件支付50%的保證金——這是Nvidia和Intel等公司所要為其旗艦晶片解決方案收取的費用。這為汽車OEM們開闢了一個全新的世界,促使他們去重新思考創建高度自動化的車輛的計算方法。

System Plus的拆解/成本估算不包括自動駕駛車軟體發展的成本。但是,在zFAS中使用了FPGA(Altera Cyclone)表示,奧迪試圖保留自己已經開發的軟體資產。

在過去的18個月中,一些領先的OEM開始暗示,他們希望按照特斯拉的方式設計自己的自動駕駛車晶片。這種方法可以使他們在硬體和軟體發展方面控制自己的命運。但是,鑒於晶片設計的高昂成本,目前尚不清楚汽車OEM們是否能更好地獨自解決。

奧迪A8的另一個重要方面是,奧迪在所有汽車OEM中向市場推出了第一款商用車,以顯示實現自動駕駛的道路。

在A8推向市場時,其車內的技術被稱為「自動駕駛突破」,其特色是名為Traffic Jam Pilot的系統。在啟用後,Traffic Jam Pilot可以緩解駕駛在處理走走停停交通時的麻煩。

但是,這些完美計畫自一開始就與困擾著Level 3車輛概念的「交接問題」(即當電腦停滯時去提醒和吸引分心的人)相衝突。

如今,A8出現在了大街上,但在現實世界中沒有一輛被啟動和運作了其Level 3自動駕駛功能。

但是,奧迪並未因此而受到打擊。A8向自動駕駛產業表明了它所面臨的挑戰,產業領導者們必須首先弄清各種監管、技術、安全、行為和法律方面,以及與業務相關的複雜性,然後才能吹噓無人駕駛車烏托邦式的未來。這部分解釋了為什麼汽車OEM、一級(Tier One)供應商、晶片供應商,以及技術和服務公司(即Waymo、Uber)在制定安全標準方面勢力越來越大。

探究A8內部

汽車製造商所面臨的挑戰將不再是提供從零到100km/h的最快速度或最佳加速,而是確保日益先進的自動駕駛和輔助系統。這是奧迪A8對於Level 3自動駕駛功能的目標,這款車輛也是世界首款使用光達(Lidar)技術的汽車。

A8的感測器套件還包括攝影機、雷達和超音波感測器。奧迪A8可自動管理在最擁擠道路上的行駛,而無需駕駛干預。奧迪指出,駕駛可以始終保持雙手不接觸方向盤,並可以根據當地法律法規進行其他活動,例如在車上看電視。車輛可以執行大多數駕駛任務,但仍然需要人工控制(圖1)。

圖1:奧迪A8的關鍵要素。

Fraux對奧迪A8內的創新技術分析:「奧迪是首款具有Level 3自動駕駛的車輛。安裝在奧迪A8上的Traffic Jam Pilot系統,使用了感測器融合和世界上首款光達,可以在交通緩慢的情況下在公路和高速公路上以高達60km/h的速度接管駕駛。」(備註:但是,此Level 3功能迄今為止尚未啟用)

Level 3自動駕駛和運算平台

數位技術可以承擔駕駛所應執行的相同任務,同時提供更高的安全性和舒適性。長期目標是擁有完全連網的道路,即汽車智慧型網路,這樣就可以減少交通擁堵和環境污染,並使安全性顯著提高。

無人駕駛正成為汽車界越來越重要的話題,有關該領域進展和創新的新聞已提上議事日程。奧迪A8所使用的Level 3自動駕駛被定義為高度自動駕駛,該系統可使駕駛不必再對車輛的縱向和橫向運動進行連續控制。

Fraux表示:「奧迪A8當中包含各種感測器和一個zFAS控制器,Aptiv透過四個處理器晶片將它們組合在一起。」zFAS(圖2)是首款集中式運算平台,即以一台電腦作為中央樞紐,來對來自超音波感測器(前、後和側面)、360°攝影機(前、後和側面鏡)、中程雷達(各個角度),以及遠距雷達和位於車前的光達的實況資料進行即時處理。

圖2:Aptiv zFAS控制器。

zFAS中的大量處理器

構成該平台的處理器有Nvidia Tegra K1,它用於交通訊號辨識、行人檢測、碰撞警告、光檢測和車道辨識。具有八層PCB的Tegra K1整合了192個Cuda核心,這與Nvidia整合到市場上現有、支援DirectX 11和OpenGL 4.4的Kepler GPU(圖3)當中的單個SMX模組中的核心數量相同。

圖3:Nvidia Tegra K1。

考慮到汽車中整合了大量的感測器,在汽車中擁有非常強大的處理器就至關重要。Intel/Mobileye的EyeQ3負責影像處理,為了滿足功耗和性能目標,EyeQ SoC透過使用更精細的幾何結構進行設計。在EyeQ3中,Mobileye使用了40nm CMOS,而該公司將在第五代SoC EyeQ5中使用7nm FinFET。每個EyeQ晶片都具有異質、完全可程式設計的加速器,每個加速器類型都針對自己的演算法系列進行了最佳化。

奇怪的是,Nvidia Tegra K1和Mobileye EyeQ3不足以處理Level 3車輛所需的所有ADAS任務。zFAS內部還使用了Altera Cyclone來進行資料預處理,以及英飛凌Aurix Tricore用於監視安全操作。Altera Cyclone系列FPGA元件採用1.5V、0.13μm的全層銅SRAM製程製造,並具有高達20,060個邏輯單元(LE)的密度和高達288kb的RAM。

英飛凌Aurix架構針對汽車產業中的動力傳動和安全應用而實現了性能最佳化,TriCore是首個針對即時嵌入式系統最佳化的統一、單核心32位元MCU-DSP架構。

奧迪A8中的感測器

在汽車世界,高階駕駛輔助系統已成為所有新車獲得歐盟新車安全評鑒協會(Euro NCAP)更高評分的必要條件。在圖1中可以找到System Plus發現的奧迪A8當中元件的詳細列表。「製造商們正在開發效率越來越高的雷達感測器,在市場上,我們可以區分一些公司,例如Aptiv、Veoneer、ZF、Valeo、Bosch、Mando、Denso和Ainstein。」Fraux表示。

特別是在奧迪A8中可以看到Autoliv的第三代汽車夜視攝影機、Aptiv的車道輔助前攝影機、Valeo Scala光達、Bosch LRR4 77GHz遠距雷達感測器,以及用作中程雷達的Aptiv R3TR 76GHz感測器(安裝在汽車的左前、右前、左後和右後方)。

Autoliv夜視攝影機由兩個模組組成:攝影鏡頭和遠端處理單元(圖4)。Autoliv的紅外線夜視攝影機由FLIR的17μm畫素高畫質氧化釩微測輻射熱計ISC0901組成。該元件利用複雜的光學系統,以及基於FPGA陣列和定制演算法的先進數值處理系統提供了一種工程方法。

圖4:Autoliv的第三代汽車夜視攝影機。

Aptiv的車道輔助前置攝影機安裝在後視鏡上,可提供80m的範圍和36張影像/秒的影格(frame)。該攝影機使用了安森美半導體提供的1.2兆畫素CMOS影像感測器,以及8位元Microchip PIC MCU,zFAS控制單元使用Mobileye EyeQ3處理晶片來管理影像對應和辨識軟體(圖5)。

圖5:Aptiv的車道輔助前置攝影機的PCB。

LRR4來自於Bosch,是一種內建六個固定雷達天線的多模式雷達。四個居中排列的天線可以對環境提供高速記錄,創建孔徑角為±6°的聚焦光束,從而實現對相鄰車道中的交通干擾最小。對於近場的情況,LRR4的兩個外部天線可以將視場角擴大到±20°,範圍為5m,而能夠對車輛進入或離開車道進行快速檢測(圖6)。

圖6:遠距雷達感測器。(圖片來源:System Plus)

Aptiv的短程雷達感測器包含兩個發射器和四個接收器通道,是在76~77GHz頻段內工作,這是汽車雷達應用的標準配置。PCB使用了一個單晶微波積體電路(MMIC)和數個空腔波導。射頻PCB基板使用玻璃增強的烴基陶瓷層壓板製造,並且完全不含PTFE(圖7和圖8)。

圖7:Aptiv R3TR 76GHz短程雷達。

圖8:Aptiv R3TR 76GHz短程雷達電子PCB。

光達技術

奧迪A8的關鍵要素是光達,這是汽車製造商首次使用光達。這款光達所採用的機械系統採用了旋轉鏡技術,以及905nm波長的邊緣發射技術,該元件的量程為150m,水平視場角為145°,垂直視場角為3.2°。馬達控制單元包含一個定子和轉子,並內建控制驅動器,以及MPS40S霍爾感測器以用於運動檢測。霍爾效應感測器的輸出電壓會隨著磁場而發生改變,因為沒有機械零件會隨著時間的推移而發生磨損,所以這是一種持久的解決方案。另外,整合式封裝則可減少系統的大小和實現的相對複雜性(圖9、圖10、圖11)。

圖9:光達。(圖片來源:System Plus)

圖10:Audi A8中所用光達的內部。

圖11:光達的方塊圖。

光達系統採用飛行時間(ToF)技術,可測量精確的計時事件(圖12)。從最新的發展可看到,有幾種多光束光達系統已可以對車輛周圍的環境生成精確的三維影像,這個資訊可用於選擇最合適的駕駛操作。

圖12:ToF工作原理圖。(圖片來源:Maxim Integrated)

邊緣發射雷射是半導體雷射的原始形式並且仍然受到廣泛使用,其諧振長度可以實現高增益。在該結構內,雷射光束在典型的雙異質結構波導結構中被引導。根據波導的物理特性,有可能實現高光束品質但輸出功率有限的輸出,或高輸出功率但光束品質低的輸出(圖13)。

圖13:邊緣發射雷射二極體。

如圖13所示,光達解決方案中所使用的雷射採用3引腳TO型封裝,裸片面積為0.27mm2。雷射的功率為75W,直徑為5.6mm。「雷射元件可能是Sheaumann採用100mm晶圓製造。」Fraux說道。調節單元採用雪崩光電二極體(APD)來擷取穿過兩片透鏡(一個發射和一個接收)後的雷射光束。「APD可能是由First Sensor採用150mm晶圓製造,並採用了8引腳FR4 LLC封裝,裸片面積為5.2mm2(圖14)。」Fraux表示。

圖14:APD。

APD是一種高速光電二極體,它使用光子倍增來獲得低雜訊訊號。APD比PIN光電二極體具有更高的訊噪比,可用於各種應用,例如高精準度測距儀和低照度檢測。從電子角度來看,APD需要更高的反向電壓,並需要更詳細地考慮其與溫度有關的增益特性。

除了用於雷射和運動控制的兩個單元之外,控制硬體還包括了主機板,它包括Xilinx XA7Z010 SoC雙核心Arm Cortex-A9、32位元ST SPC56EL60L3 MCU,以及一個電源管理系統,其中又包括ADI的同步降壓穩壓器、英飛凌的雙通道智慧高邊電源開關、ADI內建LDO的三路單片式降壓IC和Allegro的三相無感測器風扇驅動器IC。FlexRay協定支援資料通訊;FlexRay系統由幾個電子控制單元組成,每個單元都具有一個控制器,而對一個或兩個通訊通道的訪問進行管理。

估計這種光達技術在每年超過10萬個的情況下每單位成本可能達到150美元,其中很大一部分與主機板和雷射有關(圖15)。

圖15:拆卸後的光達硬體。

在光達專案中,跨阻放大器是電子佈局中最關鍵的部分—低雜訊、高增益和快速恢復特性使這種新元件成為汽車應用的理想選擇。為了獲得最佳性能,設計人員必須特別注意電路之間的介面與整合、波長,以及光機械對準等問題。這些IC符合AEC-Q100認證,可滿足汽車產業最嚴格的安全要求。

(參考原文:Under the Hood: What Audi A8 Has Taught Us,by Junko Yoshida、Maurizio Di Paolo Emilio)

本文同步刊登於EDN Taiwan 2020年6月號雜誌

 

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