TESTING, DATA LOGGING, AND PROTOTYPING FOR IN-CABIN MONITORING SYSTEMS

Testing, Data Logging, and Prototyping for
In-Cabin Monitoring Systems
Dr. Gregor Sievers, Product Manager, gsievers@dspace.de
Nov. 23, 2022
dSPACE GmbH · Rathenaustr. 26 · 33102 Paderborn · Germany
© Copyright 2022 dSPACE GmbH
Your Partner in
Simulation and Validation
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Motivation - In-Cabin Monitoring System (ICMS)
▪ 16% to 21% of fatal crashes likely involve drowsy driving1
➔Use Driver Monitor Systems (DMS) to prevent accidents
▪ Distraction & drowsiness detection2
▪ Essential for ADAS and AD
▪ Driver must monitor the car/ the environment (ADAS, L1, L2)
▪ Driver must take over driving functions (AD, L3)
▪ Detect trapped children in locked cars
▪ Child Presence Detection (CPD)
▪ General requirement for EURO NCAP from 20233
2
1 https://aaafoundation.org/countermeasures-to-reduce-drowsy-driving-results-of-a-literature-review-and-discussions-with-experts/
2 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3836343/
3 https://cdn.euroncap.com/media/64101/euro-ncap-cpd-test-and-assessment-protocol-v10.pdf

In-Cabin Monitoring - Sensors
▪ Infrared Camera
▪ Eye & head tracking
▪ Eye gaze detection ➔ Indicator for drowsiness
▪ Distraction, e.g., cell phone usage
▪ 3D Time-of-Flight (ToF)
▪ Active distance measurement sensor
▪ Alternative to passive infrared cameras
▪ Radar
▪ Child Presence Detection
▪ Vital signs detection (e.g., heartbeat)
▪ Micro Doppler
▪ 60 GHz frequency band
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ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Perception & Sensor Fusion
Detection,
tracking
Preprocessing Data Fusion
Localization
4
ICM Systems - Overview
Actuation
Sensing
Raw sensor data
e.g., camera images
Information / action
e.g., HMI warning,
emergency break
Object list
e.g., position of faces

ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
High processing power
Lower real time requirements
Detection,
tracking
Localization
5
ICM Systems - Overview
Actuation
Sensing
Lower processing power
Hard real time requirements

ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
6
ICM Systems – Testing and Prototyping
Actuation
Sensing
Sensor front end tests
Data replay tests
Closed-loop SIL and HIL simulation
Real test drives
SIL = Software in the loop
HIL = Hardware in the loop

In-Vehicle Testing & Data Logging
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ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
8
ICM: In-Vehicle Testing & Data Logging
Actuation
Sensing
Data replay tests
Real test drives

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Prototyping ICM Systems
AUTERA AutoBox
RTMaps,
ROS, Linux
MicroAutoBox III
MicroAutoBox
Embedded PC SCALEXIO AutoBox
Simulink,
ControlDesk,
ConfigurationDesk
ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
Actuation
Sensing

10 © Copyright 2022 dSPACE GmbH
Information / action
Kbit/s
Object list
Mbit/s
ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
Actuation
Sensing
Raw Sensor Data
Gbit/s
Logging ICM Systems

AUTERA – To shape the Autonomous Era
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The power of a Linux Server – in the vehicle!
▪ Easy to use, robust system for in-vehicle use
▪ Shock and vibration proof
▪ In-vehicle power supply for easy vehicle integration
▪ Modular system setup with 6x PCIe slots
▪ High flexibility to adapt to different needs
▪ Up to 50Gbit/s of Logging Speed with hot swappable
SSDs
▪ Comprehensive Bus- & Network support incl.
CAN-FD and Automotive Ethernet
▪ Support for all camera raw data interfaces incl. GMSL2
and FPD-Link III
▪ Connectivity with WIFI, LTE & GNSS support
Mainboard I/O-Rack
4x 1Gbit-Ports, 4x 10Gbit-Ports, USB-Ports, GPIOs included

Over-the-Air Testing
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ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
13
ICM: Over the Air (OTA) Testing
Actuation
Sensing
Data replay tests
Real test drives

Radar OTA Technology – Operating Principle
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Radar signal path
1. Radar sensor transmits.
2. DARTS receives from sensor.
3. DARTS converts from radio frequency
(RF) to intermediate frequency (IF).
4. DARTS enriches signal with object
information (distance, size, speed).
5. DARTS converts from IF to RF.
6. DARTS transmits back to sensor.
7. Radar sensor receives the modified
signal and extracts object information.
DARTS = dSPACE Automotive Radar Test Systems
OTA = Over the air

DARTS Real-Time Capabilities: Simulation of Micro-Doppler
The challenge
▪ Testing in-cabin vital sign detection
▪ Generation of micro-doppler
The solution
▪ Using DARTS real-time capability for
micro-doppler generation
Example application
▪ Simulation of vital signs
▪ Tuneable bandwidth from 57 to 64 GHz1
15
t
𝒇𝒅 𝒕
DARTS = dSPACE Automotive Radar Test Systems
1 Instantaneous bandwidth only limited by DARTS base device

Data Replay Testing
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ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
19
ICM Systems – Data Replay Testing
Actuation
Sensing
Real test drives
Data replay tests

ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
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ICM Systems – Data Replay Testing
Actuation
Sensing
Raw Data
(Frames, Radar ADC)
Object List
Target List
Detection List
Point Cloud

Data replay in detail
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▪ The main validation method for in-cabin perception, as replaying
real-world data provides unchallengeable fidelity.
▪ Reprocessing recorded data by parsing and streaming them into the SuT.
▪ Quality and safety measurement of the SuT through comparing its
results against ground truth data.
▪ Re-use of recorded data to validate both real & virtual SuTs.
Platform
SW: Software
SuT: System under Test
HPC: High Performance Computer

dSPACE data replay solutions
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Test automation
Replay component
Sensor data interface
Bus data interface
System under Test
API
API
API
VEOS for bus data
preparation and
vECU simulation
Data replay (HW/HIL)
Data replay (SW/SIL)
Virtual ECU
Device under Test
Solution building blocks
SCALEXIO real-time
system
Environment sensor
interface unit
Virtual ESI
RTMaps as a docker
RTMaps on
SensorSim PC
Test management
(IVS)
Data- and Test-
Management
Camera raw data
Radar detection list

Key takeaways
SCALEXIO Real-Time Technology
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Ready-to use test systems for any application
Highly flexible and
customizable
Scalable from single ECU up to
turn-key integration testing
Outstanding performance for
most comprehensive plant
models
Comprehensive support of
automotive bus/network
protocolls
Fail-safe and fail-operational
testing (LV123)
Integration of real loads
Key takeaways

▪ Raw data replay for Camera,
Radar, and Lidar
▪ Support for all relevant sensor
interfaces (Up to 10 Gbit/s)
▪ FPGA-based sensor models
▪ E.g., I2C simulation
▪ Up to 50 Gbit/s aggregated
data rate per ESI Unit
▪ Synchronous simulation of up to
12 sensors per ESI Unit
▪ Synchronization of multiple ESI
Units and SCALEXIO
▪ NDAs with Tier2 suppliers
Key takeaways
Environment Sensor Interface Unit
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Closed-loop Testing
27

ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
28
ICM Systems – Closed-loop Testing
Actuation
Sensing
Real test drives
Data replay tests

ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
29
Actuation
Sensing
OTA Sensor
Simulation
Raw Data
(Frames, Radar ADC)
Object List
Target List
Detection List
Point Cloud

ICM Functions
Prediction
Situation
Understanding
Safety Stop
Driver
Indication
Detection,
tracking
Localization
30
Actuation
Sensing
Raw data Object list
Target list
Over the air

Conclusion - In-Cabin Monitoring System (ICMS)
▪ Monitor the cabin of a car
▪ Presence
▪ Distraction
▪ Drowsiness
▪ Required by regulations
▪ ADAS/AD, NCAP, …
▪ dSPACE in-vehicle solutions
▪ Prototyping
▪ Data logging
▪ dSPACE testing solutions
▪ On all levels
▪ In the cloud (SIL) & in the lab (HIL)
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Thank you for listening!
35
gsievers@dspace.de

Additional Information
▪ dSPACE SCALEXIO Modular real-time system
▪ https://www.dspace.com/en/inc/home/products/hw/simulator_hardware/scalexio.cfm
▪ dSPACE Automotive Radar Test Systems (DARTS)
▪ https://www.dspace.com/en/pub/home/products/systems/darts.cfm
▪ Environment Sensor Interface (ESI) Unit
▪ https://www.dspace.com/en/inc/home/products/special_solutions/esi_unit.cfm
▪ dSPACE Data Replay
▪ https://www.dspace.com/en/pub/home/applicationfields/foo/data_replay.cfm
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Important Information!
© 2022, dSPACE GmbH
All rights reserved. Written permission is required for reproduction of all or parts of this publication.
The source must be stated in any such reproduction.
This publication and the contents hereof are subject to change without notice.
Benchmark results are based on a specific application. Results are generally not transferable to other applications.
Brand names or product names are trademarks or registered trademarks of their respective companies or organizations.
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TESTING, DATA LOGGING, AND PROTOTYPING FOR IN-CABIN MONITORING SYSTEMS

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