sp1 safeprobe scope

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1 CG meeting 2007-09-10, BOSCH SP1 SAFEPROBE Scope data fusion SafeSpot external application client, e.g. CVIS node application client #1 node application client #N message generation client VANET message router application coordination VANET trans- ceiver LDM database server SP3 SINTECH Innovative Technologies ad-hoc network communication relative positioning local dynamic map 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

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SP1 SAFEPROBE Scope. Application subprojects vehicle based SP4 SCOCA infrastructure based SP5 COSSIB. application coordination. SP3 SINTECH Innovative Technologies ad-hoc network communication relative positioning local dynamic map. SafeSpot external application client, e.g. CVIS. - PowerPoint PPT Presentation

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Page 1: SP1 SAFEPROBE Scope

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

Page 2: SP1 SAFEPROBE Scope

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…

Page 3: SP1 SAFEPROBE Scope

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

Page 4: SP1 SAFEPROBE Scope

4CG meeting2007-09-10, BOSCH

LDM Contents

WorldObject

Feature

GeometryObject

DynamicObject

from D3.3.3 LDM Specification

Page 5: SP1 SAFEPROBE Scope

5CG meeting2007-09-10, BOSCH

LDM Contents

from D3.3.3 LDM Specification

Feature

Roads&Ferries

RoadElement

LandCover RoadFurnitureReferenceTrack

Junction

Page 6: SP1 SAFEPROBE Scope

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

Page 7: SP1 SAFEPROBE Scope

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

Page 8: SP1 SAFEPROBE Scope

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

Page 9: SP1 SAFEPROBE Scope

9CG meeting2007-09-10, BOSCH

SP1 HW Architecture

Page 10: SP1 SAFEPROBE Scope

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

Page 11: SP1 SAFEPROBE Scope

11CG meeting2007-09-10, BOSCH

HW Architecture (PTW configuration 1)

VANET Router

OEM Gateway

Main PC

Ethernet Switch

Powertrain/body networks

GPS PPS

Page 12: SP1 SAFEPROBE Scope

12CG meeting2007-09-10, BOSCH

HW Architecture (PTW configuration 2)

OEM Gateway

Main & VANET Router PC

Powertrain/body networks

GPS PPS

Page 13: SP1 SAFEPROBE Scope

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

Page 14: SP1 SAFEPROBE Scope

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

Page 15: SP1 SAFEPROBE Scope

15CG meeting2007-09-10, BOSCH

SP1 Functional Architecture

Page 16: SP1 SAFEPROBE Scope

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

Page 17: SP1 SAFEPROBE Scope

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»

Page 18: SP1 SAFEPROBE Scope

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»

Page 19: SP1 SAFEPROBE Scope

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