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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
2SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
3SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
4SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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.)
5SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
6SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
7SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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…
8SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
Local Dynamic Map – Contents
Dortmund Test Site
9SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
Local Dynamic Map - Contents
Classical Geometry Map Content
• links, center-line• junctions• usually rich attributes
not shown here• adapted to navigation
systems needs
10SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
Local Dynamic Map - Contents
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
11SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
Local Dynamic Map - Contents
Vertically Elevated Objects – Landmark View
Data from TeleAtlas
• building facades• traffic lights• light poles• more to come/
not shown here
12SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
13SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
segmentationgroupingfilteringclassification
3D reflection ptspixels
sensor preprocessing, screening, data synchronisation, classification,…sensor preprocessing, screening, data synchronisation, classification,…
radar laserscanner vision ego state navigation, map
segmentationgroupingfilteringclassification
segmentationgroupingfilteringclassification
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
segmentationgroupingfilteringclassification
segmentationgroupingfilteringclassification
pointers:
pointers:
pointers:
pointers:Elementary situations:
object groups and relations wrt
time, space, attribute
VANET (other vehicles and infrastructure)
t
14SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
15SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
LDM Contents – Structure
envelope()
WorldObject
Feature
GeometryObject
DynamicObject
16SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
LDM Contents – Structure
envelope()
Feature
Roads&Ferries
RoadElement
LandCover RoadFurnitureReferenceTrack
Junction
17SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
LDM Contents – Structure
envelope()
DynamicObject
ConceptualObj MovingObject
LivingObject MotorVehicleEnvironmentalTrafficEventTrafficStatus
DynBlackSpot
EgoMotorVeh
Trailer
MotionState
Trajectory
Focus of data fusion
18SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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()
19SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
20SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
In-Vehicle Platform Functional Architecture
21SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
In-Vehicle Platform HW Configurations
22SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
In-Vehicle Platform HW Configurations
23SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
24SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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»
25SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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
26SAFESPOT WATCH-OVER WorkshopStuttgart, Jan 21-22, 2008
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