cg meeting 2007-09-10, bosch 1 sp1 safeprobe scope data fusion safespot external application client,...
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1CG meeting2007-09-10, BOSCH
SP1 SAFEPROBE Scope
data fusiondata fusion
SafeSpot external application client,
e.g. CVIS
SafeSpot external application client,
e.g. CVIS
node application
client #1
node application
client #1
node application
client #N
node application
client #N
message generation
client
message generation
client
VANETmessage
router
VANETmessage
router
application coordinationapplication coordination
VANETtrans-ceiver
VANETtrans-ceiver
LDMdatabase
server
SP3 SINTECH Innovative Technologies • ad-hoc network communication• relative positioning• local dynamic map
SP3 SINTECH Innovative Technologies • ad-hoc network communication• relative positioning• local dynamic map
Application subprojects• vehicle based SP4 SCOCA• infrastructure based SP5 COSSIB
Application subprojects• vehicle based SP4 SCOCA• infrastructure based SP5 COSSIB
SP1 SAFEPROBE In-vehicle Platform
T-API
vehicle specific equipment(car, truck, powered two wheelers)
OEMs provide gateway
2CG meeting2007-09-10, BOSCH
In-Vehicle Platform Output Interface
map fromprovider
landmarks for referencing
treeidpos…
treeidpos…
com nodes,fusion result
temporaryregional info
Local Dynamic Map
!
accidentidpos…
accidentidpos…
fogidposa,b…
fogidposa,b…
congestionidposlengthdir…
congestionidposlengthdir…
egoposvel…
egoposvel…
rsuidpostype…
rsuidpostype…
vehidposveltype…
vehidposveltype…
3CG meeting2007-09-10, BOSCH
LDM Contents
from D1.3.1 Data Fusion Specification
WorldObject
Feature
GeometryObject
DynamicObject
ConceptualObj MovingObject
LivingObject MotorVehicleEnvironmentalTrafficEventTrafficStatus
DynBlackSpot
EgoMotorVeh
Roads&Ferries
RoadElement
LandCover RoadFurn
Trailer
MotionState
Trajectory
ReferenceTrack
Junction
4CG meeting2007-09-10, BOSCH
LDM Contents
WorldObject
Feature
GeometryObject
DynamicObject
from D3.3.3 LDM Specification
5CG meeting2007-09-10, BOSCH
LDM Contents
from D3.3.3 LDM Specification
Feature
Roads&Ferries
RoadElement
LandCover RoadFurnitureReferenceTrack
Junction
6CG meeting2007-09-10, BOSCH
LDM Contents
DynamicObject
ConceptualObj MovingObject
LivingObject MotorVehicleEnvironmentalTrafficEventTrafficStatus
DynBlackSpot
EgoMotorVeh
Trailer
MotionState
Trajectory
from D3.3.3 LDM Specification
Focus of data fusion
7CG meeting2007-09-10, BOSCH
Possible Input to Data Fusion
Laser-scanner (sensor level processing in own PC)
Obstacle data
Raw data
Long-range Radar (LRR) Obstacle data
Sensor data
VANET (see SP7) V2V communication
V2I communication
Camera + Image Processing (IP) Road boarder
Lane detection
Road curvature
Obstacle data
Ego-positioning Relative position of vehicle
Absolute position of vehicle
Static map data
Host-vehicle CAN bus (LDM) Further Powertrain, Body, Safety Systems Data
from D1.3.1 Data Fusion Specification, vers. 0.9, 01/08/2007
8CG meeting2007-09-10, BOSCH
SP1 Test Vehicle Equipment
from D1.3.1 Data Fusion Specification, vers. 0.9, 01/08/2007
Volvo trucks
Renault MODUS
Renault LAGUNA
Renault ESPACE
Fiat BRAVO
Piaggio MP3
DescriptionFH12
Long-haul tractor
mini MPVestate vehicle
large MPV MP3 250ie
Sensors
ACC radar
IBEO, front right corner of the cab,
front camera
Lane tracker optional
- -
A single laser sensor will be available, located in the centre of the front bumper
Long Range Radar (76-77 GHz), installed behind the bumper
IBEO, in front of bumper
camera, if needed for the SP3 positioning module
tilt sensor
10CG meeting2007-09-10, BOSCH
HW Architecture (truck/car configuration)
VANET Router
OEM Gateway
Positioning system
Main PC
Applications PC
Ethernet Switch
In-vehicle sensor data
ESPOSYTORLaserscanner system
In-vehiclepowertrain/body data
HMI
GPS-PPS
11CG meeting2007-09-10, BOSCH
HW Architecture (PTW configuration 1)
VANET Router
OEM Gateway
Main PC
Ethernet Switch
Powertrain/body networks
GPS PPS
12CG meeting2007-09-10, BOSCH
HW Architecture (PTW configuration 2)
OEM Gateway
Main & VANET Router PC
Powertrain/body networks
GPS PPS
13CG meeting2007-09-10, BOSCH
Main PC SW Processes
• processes controlled by operating system• communication (IPC) by database SW
db instance
DBMS Data Fusion
shared memory
Client
network socket network socket network socket
Application clients
OEM GW, VANET router, Positioning PC, Laserscanner PC
DB, GPS card driver
Otional client process
Operating system
DF processLDM process
Co-ordi-nator
14CG meeting2007-09-10, BOSCH
LDM – Client Communication
DB instance
DBMS
DB driver
Server
Client program
network socket
network socket
Op-System B
Client
DB driver
Network, usually TCP/IP
Op-System A
• Protocol defined by database SW• Network transparent for users• No development required• Client typically on remote PC
16CG meeting2007-09-10, BOSCH
Data Fusion Process Timing
• IO bound tasks run short, but frequent, often need to get CPU immediately• Processor bound tasks run longer, but less frequent• Proc bound tasks need to be pre-empted to limit latencies
for non-fusion data
DAQ
Obj Ref
Sit Ref
Info provide
new OR cycle
new batch of OR results in SM
new SR results in SM
new ego data new VANET data new radar data
IO bound
IO bound
Proc bound
Proc bound
17CG meeting2007-09-10, BOSCH
Main PC Data Fusion Process
class SP1_MainPC
coordinator
scheduler
threadList
sharedMemoryframework implemented and compiled into exe and DLLs by Bosch
thread
+ prio: + state:
+ stop()+ wait()+ run()
threadMethods
+ run()
code pieces (e.g. methods) implementedand compiled into DLLs by partners
Example threads:- dataAcquisition- OR_alignment- OR_radar- OR_vanet- SR_centralLevel- SR_ego- SR_obj- SR_event- infoProv- logger
1..*
«realize»
18CG meeting2007-09-10, BOSCH
Main PC SW Framework Status
1st SW framework based on Qt running at BOSCH with
• Coordinator (no scheduling, no shared memory)
• 4 parallel threads
• Database (PostgresQL, PostGIS)- queries - notifications, event driven
• Networking: - database server PC ↔ client PC (TCP/IP)- datasource PC ↔ main PC (UDP)
• File IO from threads
• GUI
class SP1_MainPC
coordinator
framework implemented and compiled into exe and DLLs by Bosch
thread
+ prio: + state:
+ stop()+ wait()+ run()
threadMethods
+ run()
code pieces (e.g. methods) implementedand compiled into DLLs
Example threads:- data acquisition (positioning data, random in-vehicle)- SR_event: fog detection- infoProv
1..4
«realize»
19CG meeting2007-09-10, BOSCH
Main PC Lab Test Bed
• Single SW configuration of Main PC• Data logging and replay in external PCs (not eBox)
db instance
DBMS Data Fusion
shared memory
network socket network socket
DF&Coord processLDM process
Co-ordi-nator
recorded / simulated data
player
network socket
recorder
Main PC under test (eBox)Gw, Router, Appl,… Emulation PC
Ethernet
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