Manage traffic flow on Switch-1 for multiple sensors

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

DRIVE OS Version: DRIVE OS 6.0.8.1, Driveworks 5.14

Issue Description: We try to run six Continental/Aumovio ARS430DI radar sensors on the Drive Orin connected through MateNET J11 on Switch-1. Those sensors are using multicast addresses for their communication (sensor, status, configuration). This means the switch will forward all packets of one sensor to the 5 other sensors (and also all other internal ports). So every sensor receives sensor data of 5 other sensors. Besides the unnecessary traffic it creates a real issues:
The packets with the vehicle dynamic data from host to the sensors don’t get through reliably and the sensors will report an error and probably have unreliable egomotion available what degrades their processing.

A solution for this kind of issues is using VLAN to mange the traffic flow, but I could not find a clear answer if and how it is possible for switch-1 on the P3710. Can somebody help me to find out, how to do this, that we can make full use of all six radar sensors?

3

Do you mean to enable VLAN on P1-P6 ports on switch 1? Let me check on this internally and update you.

Are you using DW radar replay sample to check radar data? Is it possible to share ifconfig output when all radar connected?

4

Activating is one thing, configuring it another.
Rough config concept:

  • P1-P6 getting each their own VLAN id and incomming packets get tagged with that ID.
  • Additionally P1-P6 would need to be VLAN member for a management VLAN ID.
  • The P10 (Tegra connection) would be member of all VLAN ids of the sensors (P1-P6) and the management VLAN ID.
  • Incomming packets (from Tegra) would get the management VLAN ID.
  • All packets going out of P1-P6 and P10 would have their VLAN tags removed.

This way the packets of each sensor would only be forwarded to P10 and the packets from Tegra (config and vehicle dynamics) would reach all sensors.

no we have our own ROS 2 node for that.

In general yes, but would take some time to get my hands on the car. What are you interested in?

5

Hi @JudyJetson ,
Did you check our DW radar replay network settings with VLAN at DriveWorks SDK Reference: Radar Replay Sample ? Does this help your case?

6

Hi @JudyJetson ,
Did you check our DW radar replay network settings with VLAN at DriveWorks SDK Reference: Radar Replay Sample ? Does this help your case?

7

I came across it during my search previous to my initial post. I did not try it, because:

  • it’s using only one radar, which works on our side with our tooling well.
  • The commands used only configure a VLAN on the Tegra side. It does not explain how this will “magically” configure VLAN in the switch or the radars itself. If there is some hidden VLAN configuration already in the switch, to be used, I would be glad to have some documentation/information about it. Only thing related to this I could find here:
    VLAN Configuration | NVIDIA Docs
    but it only mentions the VLAN 200 for the communication between Tegra and Aurix
8

Dear @JudyJetson ,
If you want to make any configuration changes in switch, you need to out reach out to switch vendor. It can not be done from DRIVE OS and is outside the scope of forum support.

Please try the same for each radar and see if it helps to route the traffic.

9

Could you please provide any update for this topic?