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SP1 SAFEPROBE Scope

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.

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SP1 SAFEPROBE Scope

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  1. 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 node application client #N node application client #1 VANETmessage router VANETtrans-ceiver message generation client LDM databaseserver T-API data fusion SP1 SAFEPROBE In-vehicle Platform vehicle specific equipment(car, truck, powered two wheelers) OEMs provide gateway

  2. map fromprovider ! In-Vehicle Platform Output Interface Local Dynamic Map veh id pos vel type … rsu id pos type … ego pos vel … com nodes, fusion result congestion id pos length dir … tree id pos … temporaryregional info landmarks for referencing fog id pos a,b … accident id pos …

  3. MotionState Roads&Ferries ReferenceTrack LandCover ConceptualObj RoadFurn DynBlackSpot MovingObject Trajectory EgoMotorVeh RoadElement MotorVehicle TrafficStatus TrafficEvent Environmental LivingObject Trailer LDM Contents GeometryObject WorldObject Feature DynamicObject Junction from D1.3.1 Data Fusion Specification

  4. LDM Contents GeometryObject WorldObject Feature DynamicObject from D3.3.3 LDM Specification

  5. LDM Contents Feature Roads&Ferries ReferenceTrack LandCover RoadFurniture Junction RoadElement from D3.3.3 LDM Specification

  6. LDM Contents DynamicObject Focus of data fusion MotionState ConceptualObj DynBlackSpot MovingObject Trajectory EgoMotorVeh MotorVehicle TrafficStatus TrafficEvent Environmental LivingObject Trailer from D3.3.3 LDM Specification

  7. Possible Input to Data Fusion from D1.3.1 Data Fusion Specification, vers. 0.9, 01/08/2007

  8. SP1 Test Vehicle Equipment from D1.3.1 Data Fusion Specification, vers. 0.9, 01/08/2007

  9. SP1 HW Architecture

  10. ESPOSYTOR HW Architecture (truck/car configuration) Positioning system HMI In-vehicle sensor data Applications PC OEM Gateway GPS-PPS Ethernet Switch In-vehiclepowertrain/body data VANET Router Laserscanner system Main PC

  11. HW Architecture (PTW configuration 1) OEM Gateway VANET Router Ethernet Switch Powertrain/body networks GPS PPS Main PC

  12. HW Architecture (PTW configuration 2) OEM Gateway Powertrain/body networks GPS PPS Main & VANET Router PC

  13. Main PC SW Processes OEM GW, VANET router, Positioning PC, Laserscanner PC Application clients Co-ordi-nator network socket network socket network socket Client DBMS Data Fusion db instance shared memory Otional client process DF process LDM process DB, GPS card driver Operating system • processes controlled by operating system • communication (IPC) by database SW

  14. Op-System B Client program DB driver network socket Client Network, usually TCP/IP Server network socket DBMS DB driver DB instance Op-System A LDM – Client Communication • Protocol defined by database SW • Network transparent for users • No development required • Client typically on remote PC

  15. SP1 Functional Architecture

  16. Data Fusion Process Timing new ego data new VANET data new radar data DAQ IO bound new OR cycle Obj Ref Proc bound new batch of OR results in SM Sit Ref Proc bound new SR results in SM Info provide IO bound • 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

  17. Main PC Data Fusion Process

  18. 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

  19. Co-ordi-nator network socket network socket DBMS Data Fusion db instance shared memory DF&Coord process LDM process Main PC Lab Test Bed Ethernet network socket recorder player recorded / simulated data Main PC under test (eBox) Gw, Router, Appl,… Emulation PC • Single SW configuration of Main PC • Data logging and replay in external PCs (not eBox)

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