Integrated Project Co-operative Systems for Road Safety “Smart Vehicles on Smart Roads”

1. Integrated Project Co-operative Systems for Road Safety “Smart Vehicles on Smart Roads” SP1 – SAFESPOT In-Vehicle Sensing and Platform Elena Bianco Centro Ricerche FIAT (Italy), elena.bianco@crf.it SP1 SAFEPROBE Co-leader SAFESPOT

2. SAFESPOT – SP1 • WP1.3 Specification • Task 1.3.1 Internal Data Fusion Specification • Task 1.3.4 Data Refinement Specification

3. SAFESPOT – SP1 – WP 1.3

4. SAFESPOT – SP1 – WP 1.3 • WORK PLAN M7 – M12 M12 – M18

5. SAFESPOT – SP1 – WP 1.3 • WORK PLAN

6. SAFESPOT – SP1 – WP 1.3 • WP DELIVERABLES LIST

7. SAFESPOT – SP1 – WP 1.3 • TASK 1.3.1 Internal Data Fusion Specification • Leaded by CRF – Other Partners involved: VOLVO, BOSCH, PIAGGIO, IBEO, ICCS • Start month: 7 - End month: 12 • Main Activities: • Development of data fusion algorithms at different levels depending on: • specific goal to reach; • type of vehicles (cars, trucks, motorcycles) and equipment considered. • 2. Implementation of data packages to be transmitted to the environment through V2V and V2I communication, using protocol defined within SP3 • Synergy with IP Prevent – ProFusion II (http://www.prevent-ip.org) • Specification of the internal data fusion will be adapted from the recommendation of the sub-project ProFusion II. • Final resultD1.3.1 Data fusion specification (M15)

8. SAFESPOT – SP1 – WP 1.3 • IP Prevent – ProFusion II • Sub-project leader Su-Birm Park – DELPHI (su.birm.park@delphi.com) • 1st PReVENT Fusion Forum Workshop: 8 March 2006 • VOLVO Brussels Office • The agenda is available at • http://www.prevent-ip.org/FusionForumWorshop

9. SAFESPOT – SP1 – WP 1.3 • TASK 1.3.4 Data Refinement Specification • Leaded by CRF – Other Partners involved: VOLVO, BOSCH, MMSE • Start month: 12 - End month: 18 • Main Activities: • To link the SP1 data fusion specifications with the requirements defined in the SP3 connected to the propagation of the data packets and their broadcast inside geographical areas. • To specify a data framework towards the applications • To define in a formal/ semantic way the data structures to be exchanged through V2V and V2I • To develop a common interfaces and protocol in a suitable way to make easy the integration of the SAFEPROBE platform. • Synergywith SAFESPOT – SP3 SINTECH

10. SAFESPOT – SP1 – WP 1.3 Legend: I/F = Interface SP1 - WP1.3 Specification

11. SAFESPOT – SP1 – WP 1.3 PARTNERS CONTRIBUTIONS TASK 1.3.1 CRF Task Leader. Leads the specification activities for on-board data fusions algorithms for cars, trucks and motorcycles. Responsibility of the D 1.3.1. VOLVO Providing information on truck specific data fusion issues. BOSCH Contributions to the specification of information (object, attribute) fusion architectures and algorithms (tracking, data association, time stamping/synchronization) at various levels (sensor to central/map level) and for defined vehicle sub-networks (e.g. surround sensor bus, vehicle dynamics CAN, navigation/multimedia bus, communication/WLAN).

12. SAFESPOT – SP1 – WP 1.3 PARTNERS CONTRIBUTIONS TASK 1.3.1 PIAGGIO Merging of data coming from communication, both from other vehicles and from infrastructure. IBEO Contribution to the specification of data fusion, in particular fusion of cooperative on-board sensor data with external information received via V2V/V2I. ICCS Contribution to the specification of the data fusion algorithms.

13. SAFESPOT – SP1 – WP 1.3 PARTNERS CONTRIBUTIONS TASK 1.3.4 CRF Definition and description of formal semantic structure of the data for the vehicles and cooperative environment. VOLVO Contribution to the specification of the interfaces for truck specific applications. MMSE Contribution to the definition of formal semantic data structures; development of common interface and protocol.

14. SAFESPOT – SP1 – WP 1.3 Proposal of working phase

15. SAFESPOT – SP1 – WP 1.3 SAFESPOT – SP1 demonstrator vehicles • (*) Renault plans to equip one of its vehicles as defined in SP1, even if not funded in SP1. The purpose is to facilitate the final integration phase in terms of layout, vehicle information, synergy constraints, etc. • The main SP1 test are done by VOLVO, CRF and PIAGGIO.

16. SAFESPOT – SP1 – WP 1.3 SAFESPOT – draft of possible on-board sensors All the vehicles are supposed to be equipped with the SAFEPROBE processing unit.

17. SAFESPOT – SP1 – WP 1.3 • CRF proposal OUTPUT data defined at logical level (data structure) 1 HMI Application OUTPUT data defined at physical level (transmission protocol, interface) 2 SP4 2 Application layer to be agree between SP1 and SP4 Standard Interface SP3 1 COM V2V/V2I DATA FUSION vehicle sensors ADAS sensors SP1

18. SAFESPOT – SP1 – WP 1.3 • DATA FUSION – MAIN FEATURES • Principal aim is to reconstruct the traffic scenario around the vehicle thanks to the data collected from homogeneous sensors. • Depending on the number of on-board sensors, the reconstruction will be more or less precise. • The data fusion algorithms have to be flexible and modular enough to be used in different kinds of vehicle using different equipment. • The data fusion algorithms have to based on the architecture defined by VSP inside PROFUSION 2 data-fusion architecture. • The following slide report the working proposal to be shared by all the involved partners.

19. LRR/LID On-board sensors GPS Camera SRR V2V Maps V2I SAFESPOT – SP1 – WP 1.3 Signal Level Track Level Object Level Feature Level Environmental Level Fusion Level El-hor El-horizon Provider Road Data Road Geometry Fusion Road Geometry Vehicle Data Ego-veh Positioning Accurate Pos Images Lane Detection Lane Track Level Fusion Ego-state Estimation Ego-veh Pos. Environment Reconstruction Position LRR/LID Processing tracks Signals Track Level Fusion Obstacles tracks SRR Processing Signals Internal DF with on-board Information External DF with Refinement SP1 - WP1.3 Specification

20. SAFESPOT – SP1 – WP 1.3 • OPEN ISSUES: • Input from SP4: • Requirements based on scenarios and application definition • 2. Output to SP4: • Data fusion specification • Definition of a common architecture • Definition of the common protocol interface between SP1 and SP4 • Definition of the interface for the data flow and data exchange in terms of • Data format • Availability • Accuracy • Resolution • Latency • Update rate Timetable to be done