Technical Platforms and Local Dynamic Maps › download › WO_SF_workshop › 015...SAFESPOT WATCH-OVER Workshop Stuttgart, Jan 21-22, 2008 Local Dynamic Map - Contents Static Layer

1SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008

TechnicalTechnical PlatformsPlatforms and Local and Local DynamicDynamic MapsMapsChristian Zott, Robert Bosch GmbH

[email protected] [email protected]

SAFESPOTSAFESPOTSAFESPOT

http://www.safespot-eu.org/


Perspectives to SAFESPOT’s Platforms

• Technical - Platform definition - Targeted users and their needs - Functional, SW, HW views on the platform architectures- Development states and future-challenges

• Business- Derived platform products- Cost Estimations and Limits - Platform players and allocation to industry (branches)

• Deployment- Compliance to related standards (ISO, SAE, ETSI, OGC,…)- Certification- Roadmaps


General Platform Definition

An architecture, composed by components and interfaces, which serves as a foundation or base for the development of applications or systems

HW platform examples: CPU or computer family (x86, 68000, ARM, powerPC, SPARC)

SW platform examples: Operating systems (Unix, Linux, Windows,...), SW development frameworks, libraries (e.g. Java, Qt) and APIs, web browsers (e.g. MozillaFirefox) or tool frameworks (e.g. Eclipse) open for plug-ins

Platforms• provide base functionality and communicate with other components• are often third party components, i.e. developers procure and use it, but mostly do

not develop or modify it• save development time by reuse of mature, widely tested and documented design

patterns, components, interfaces and tools• support development organization and planning


SAFESPOT’s Platforms

Two scopes:

I. General, sustainable concept beyond SafeSpot, i.e. for related EC projects like CVIS, future projects and products,defining a generic functional architecture and APIs

II. Specialized, detailed concept including SW and HW architecture for SafeSpot prototype, application demonstration and test site development

Targeted platform users:

• Infrastructure and vehicle application developers for ITS and ADAS

• Not the drivers itself (compare to web server, IT middleware, etc.)


Some SAFESPOT Platform User Needs

Reusable, flexible, scalable

with respect to varying context, i.e. for

• different HW configurations:

node sensors, node communication/networks, HW platforms, vehicles)

• different SW configurations:

OS, frameworks, SW design patterns)

• wide range of applications:

driver information, assistance, vehicle control, traffic monitoring, control,comfort to safety critical scenarios, environments, e.g. motorway, rural, urban


Data Reception

Data Fusion

Object Refinement

Situation Refinement

Node-Central Database: (Local) Dynamic Map

NodeGateway

Node Sensors

and Data

Sources

Message Generation

Ad-hoc NetworkRouting

Generic SafeSpot Platform Functional Architecture

driven by HW configuration

driven by applications

re-usable platform components


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…


Local Dynamic Map – Contents

Dortmund Test Site


Local Dynamic Map - Contents

Classical Geometry Map Content

• links, center-line• junctions• usually rich attributes

not shown here• adapted to navigation

systems needs



Static Layer for Dortmund Test Site

Data from TeleAtlas

• building facades• curbs• lane dividers • lane markings• traffic lights• light poles• more to come/

not shown here



Vertically Elevated Objects – Landmark View

Data from TeleAtlas

• building facades• traffic lights• light poles• more to come/

not shown here


LDMdatabase

data base management system

data base management system

node application

client

node application

client

brokerbroker

messagegeneration

client

messagegeneration

client

brokerbroker

VANETRouter

VANETRouter

VANETVANET

subscriptions,queries

SafeSpot messages*

responses,notifications*

Q-API

*platform output

• LDM is more than just a storage device• Unique representation of environment – not

copy of other LDMs• Moving “horizon” of static information, e.g.

road network, landmarks• Dynamic contents governed by Data Fusion

process• Does not only provide data, but access

functions for data projection, selection, filtering, join, grouping, sorting, etc.

• Event-triggered notification can provide extra functionality


Data Fusion Levels

• Raising of level in general by finding relations(wrt space, time, attributes)

• Sensor systems, sources often provide data on different levels

• Data fusion levels grouped in

- Object Refinement

- Situation Refinement

80

pointers:

pointers:

pointers:

pointers:

segmentationgroupingfilteringclassification


3D reflection ptspixels

sensor preprocessing, screening, data synchronisation, classification,…sensor preprocessing, screening, data synchronisation, classification,…

radar laserscanner vision ego state navigation, map



Geom. primitives:groups wrt space

in single frame

pointers:

pointers:

pointers:

pointers:Object tracks:

groups in state space and wrt time,

i.e. across frames



pointers:

pointers:

pointers:

pointers:Elementary situations:

object groups and relations wrt

time, space, attribute

VANET (other vehicles and infrastructure)

t


In-Vehicle Platform View Generation

car

truck

X

XX

X X X

X

XXX

ego

100m100ms

1km1s

lane

tr.signpost

emergency vehicle approaching

stopped car on ego lane,active hazard warning lights

truck on ego lane,emergencybraking

slipperylanes

ego vehicle

situationqueries

object(incl. ego)

queries

applications

• Views generated by queries

• Views specified by query conditions

• Views application specifi

• Query complexity usually increases with level

• Scope usually increases with level, whereas resolution decreases

• Query rate usually decreases with level


LDM Contents – Structure

envelope()

WorldObject

Feature

GeometryObject

DynamicObject



envelope()

Feature

Roads&Ferries

RoadElement

LandCover RoadFurnitureReferenceTrack

Junction



envelope()

DynamicObject

ConceptualObj MovingObject

LivingObject MotorVehicleEnvironmentalTrafficEventTrafficStatus

DynBlackSpot

EgoMotorVeh

Trailer

MotionState

Trajectory

Focus of data fusion


LDM Contents – Geometry Objects

Curve: LinearRing

Surface: Polygon

Curve: Line

Point

buffer() (approx‘d circ arcs)

convexHull()

Geometry

+ boundary() : Geometry+ asText() : String+ crosses() : int+ disjoint() : int+ overlaps() : int+ distance() : double+ buffer() : Geometry+ intersection() : Geometry+ convexHull() : Geometry+ envelope() : Geometry+ ...()

Point Curv e Surface

LineString Polygon

Line LinearRing

SpatialReferenceSystem

GeometryCollection

MultiPoint

MultiCurv e

MultiSurface

InteriorRing0..* ExteriorRing

1

predicates examples

basic op examples

geom. op examples

Simple Features (see OGC/ISO, used in TA/Bosch implementation)

envelope()


LDM Transactions and Queries

Overview of Level 1 Queries (Query class methods)

Feature Generationfrom 2 featuresintersectionconvexHullgeomUniondifference

from 1 featurebufferboundarycentroidenvelope

Meteringlengthareadistance

Testsfor 2 features

intersectscontainsequals

Select Result NavigationnextpreviousfirstlastgotoRecordsizevalue

Main Query args: names, attributes, conditionsselect

Transactionsargs: names, attributes, values, conditionsinsertupdatedelete

MaintenancesetDBgetLastErrorclearSelect

Q-A

PIT-A

PI


In-Vehicle Platform Functional Architecture


In-Vehicle Platform HW Configurations


In-Vehicle Platform HW Configurations


In-Vehicle Platform SW Architecture

• LDM database: 2 implementations (TeleAtlas/Bosch, Navteq)• OS: WindowsXP• DF process: C++, framework using Qt

db instance

DBMS

shared memory

network socket

DF processLDM process

Main PC (eBox)

Coordinatornetwork socket

DAQ/OR/SR/IP threads

Gw, Router, Application PC


In-Vehicle Platform SW Architecture

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»


In-Vehicle Platform 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 ego data new VANET data new radar data

IO bound

IO bound

Proc bound

Proc bound


SAFEPROBE Partners and Schedule

OEMsCentro Ricerche Fiat (SP Co-leader)Volvo TechnologyREGIENOVPiaggio

SuppliersRobert Bosch (SP leader)Magneti Marelli Sistemi Elettronici IBEO Automobile SensorSiemens

Research and othersInstitute of Communication and Computer Systems MIRA

Schedule Feb 2006 – Jan 2007 : Needs, requirements and use casesOct 2006 – July 2007: SpecificationAug 2007 – July 2008: ImplementationJan 2008 – Jan 2009: Test and Validation

Documents

Technical Platforms and Local Dynamic Maps › download › WO_SF_workshop › 015...SAFESPOT WATCH-OVER Workshop Stuttgart, Jan 21-22, 2008 Local Dynamic Map - Contents Static Layer