CG meeting , BOSCH 1 SP1 SAFEPROBE Scope data fusion 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 VANET message router application coordination VANET trans- ceiver LDM database 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

CG meeting , BOSCH 2 In-Vehicle Platform Output Interface map from provider landmarks for referencing tree id pos … tree id pos … com nodes, fusion result temporary regional info Local Dynamic Map ! accident id pos … accident id pos … fog id pos a,b … fog id pos a,b … congestion id pos length dir … congestion id pos length dir … ego pos vel … ego pos vel … rsu id pos type … rsu id pos type … veh id pos vel type … veh id pos vel type …

CG meeting , BOSCH 3 LDM Contents from D1.3.1 Data Fusion Specification WorldObject Feature GeometryObject DynamicObject Junction

CG meeting , BOSCH 4 LDM Contents WorldObject Feature GeometryObject DynamicObject from D3.3.3 LDM Specification

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

CG meeting , BOSCH 6 LDM Contents DynamicObject ConceptualObj MovingObject LivingObject MotorVehicle EnvironmentalTrafficEventTrafficStatus DynBlackSpot EgoMotorVeh Trailer MotionState Trajectory from D3.3.3 LDM Specification Focus of data fusion

CG meeting , BOSCH 7 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-positioningRelative 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

CG meeting , BOSCH 8 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 Description FH12 Long-haul tractor mini MPV estate 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 ( GHz), installed behind the bumper IBEO, in front of bumper camera, if needed for the SP3 positioning module tilt sensor

CG meeting , BOSCH 9 SP1 HW Architecture

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

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

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

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

CG meeting , BOSCH 14 LDM – Client Communication DB instance DBMS DB driver Server Client program 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

CG meeting , BOSCH 15 SP1 Functional Architecture

CG meeting , BOSCH 16 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 Proc bound

CG meeting , BOSCH 17 Main PC Data Fusion Process

CG meeting , BOSCH 18 Main PC SW Framework Status 1 st 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

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

CG meeting , BOSCH 20 SP1 SW Framework

CG meeting , BOSCH 21 SP1 SW to HW Allocation

CG meeting , BOSCH 22 Why? Why one network for all PCs and Gateway? all devices can communicate point-to-point, e.g. -positioning PC gets ENP, NAV, etc. from gateway w/o mainPC involvement -laserscanner gets VANET message from VANET router PC w/o mainPC involvement -ESPOSYTOR can monitor all data with one plug time-synchronisation can be centralised using GPS pulse-per-second at gateway (time stamping) and its distribution via LAN (Ethernet, NTP service) by mainPC Why Ethernet? plenty of bandwidth, 100MBit/s standard, much more than CAN flexible with respect to protocols, e.g. we could simply use UDP with small overhead and self defined ports standard for PC networking: -HW: today all PCs have built in network adapters, no extra cards needed, e.g. CAN, switches & cables cheap, cables (cat5) can be up to 100m, EMC usually no problem -SW: drivers, sockets, sniffers, etc. available for all SW frameworks and OS (Windows, Linux) many automotive research platforms use(d) it, including CVIS SP3 tasks (POS, VANET) want it anyway