1. SAFESPOT Test Sites (Info from Core Group 28-29 May 2008 ) Examination of SP2 implications

2. NETHERLAND - HELMOND Laser scanner object (Ibeo) – Road Intersection scenario GERMANY STADT DORTMUND Laser scanner object (Ibeo) – Road Intersection scenario Animal/pedestrian, NIR camera, VTT ? URBAN SCENARIO Inter-urban environment: OBSTACLE DETECTION ITALIAN WSN vehicle count and speed, ISMB, Mizar Ghost driver – RFID system (BME) Animal/pedestrian, NIR camera, VTT WEST TS Visibility range and weather condition, CCTV camera, LCPC Road user, CCTV camera, CIDAUT SWEDEN Ice and Wet road message, CCTV camera, VTT Motorway environment: SPEED ALERT SUPPORT SAFESPOT detection systems & test sites

3. West Test Site We need to understand well the following: The ‘mobile’ RSUs used onboard vehicles in SMAEV application (operator will write the message manually) The ‘simple’ RSUs proposed for motorway application with just LDM and router (but no application) connected by wire (or Wimax or Internet …) to a normal RSU (where the Application is installed). Are gateways required to external TMC? What data? CIDAUT has no application at present as vehicles will only be used in the Valladolid Tech Park Navteq question (LDM not yet guaranteed) Applications will use LINUX or Windows

4. West Test Site Locations (1) 1 3 CG 22 rural roads -Near a weather station (Etables s/ Mer) for SA and SMAEV -On a dangerous curve (Bourbriac ) for LDP MOVEO/LIVIC closed test tracks Volvo closed test track Lyon 2 6

5. 4 5 Valladolid: technological park COFIROUTE motorway: Vivy-Saumur A85 Locations (2)

6. Applications SP Application cluster Application nameResponsiblen° SP4 Lateral collisionRoad intersection safetyCAS 2, 3, 4, 5, 6 Longitudinal collision Speed limitationVolvo7 Frontal collision warningVolvo, 8 SP5 H&I warningH&IW_01: Static obstaclesMizar9 Speed alert SpA_01: Critical speed warning (legal)LCPC (LIVIC)11 SpA_02: Critical speed warning (dynamic) after H&I warningLCPC (LIVIC)10 SpA_03: Dynamic speed warning to all vehiclesLCPC (LIVIC)11 SMAEV SMAEV_01: Safety margin for assis. vehicle signaling a critical eventSODIT12, 14 SMAEV_01: Safety margin for assis. vehicle crossing an intersectionSODIT New 15 ? RDPRdep_01: Road departure warningDIBE16, 17 16 scenarios!

7. OBU components (1) Vehicle owner Vehicle typeHW componentsSW components Volvo1 truck Renault Premium on Volvo closed track 1 eBox 1 Vanet Router VS-EmRunner H plus e1 with SR5 card 1 MMI 1 gateway Volvo internal 1 application PC ? 1 accurate (1 m) pos system ? SP1 components ? SP4 Speed Limitation application SP4 Frontal collision w application RENAULT Fr1 Laguna 1 Espace on LIVIC closed test tracks 2 eBox ? 2 Vanet Router ? 2 MMI ? 1 gateway Renault internal 1 standard pos system 2 application PC ? 1 accurate (1 m) pos system ? SP1 components ? SP4 Road intersection safety applications (CAS) SP4 SL and FCW applications ? RENAULT Sp2 Grand Modus on Valladolid techno. park 2 SP platforms similar to the Renault F one ? 2 application PC ? SP1 components ? SP4 Road intersection safety applications (CAS) SP4

8. OBU components (2) Vehicle owner Vehicle typeHW componentsSW components LCPC (LIVIC)2 Clio Estate 1 Citroën C4 on LIVIC tracks, CG22 sites and Cofiroute site 3 eBox ? (1 OBU  mobile RSU) 3 Vanet Router ? 3 MMI ? 3 gateways provided by Renault 3 application PC ? 3 standard pos system 1 very accurate (10 cm) road- side pos system ? Replaced by an on-board one (from LCPC MI) SP1 components ? Others ? COFIROUTE1 maintenance vehicle on Vivy A85 site No OBU but a mobile RSU inside the vehicle No gateway No sensors None CG221 assistance vehicle on Etables s/ Mer site No OBU but a mobile RSU inside the vehicle No gateway No sensors None SP5

9. RSU components (1) Road owner Type of road (location n°) HW componentsSW components CG22Rural road Etables s/ Mer (1) 1 mobile RSU in one of the Clio: - 1 eBox ? - 1 Vanet Router ? 1 fog detection system (LCPC-ESE) 1 gateway to a weather station ? 1 output connection to a VMS ? SP2 data fusion modules ? Data acquisition (Mizar) Object refinement: Object Matcher and Map Matcher (TUM) Situation refinement: Traffic Data Calculator (ECAID? TIC?) LDM and API (Navteq) Interface to Router PC (CRF) SP3 LDM (3 m) ? SP5 SA applications 1 mobile RSU in CG 22 assistance vehicle: - 1 eBox ? - 1 Vanet Router ? No gateway No sensor SP2 data fusion modules ? SP3 LDM 3 m) ? SP5 SMAEV application ? VolvoClosed track (2)none

10. RSU components (2) Road owner Type of road (location n°) HW componentsSW components LCPC (LIVIC) Closed tracks (3) with LIVIC vehicles 1 mobile RSU in one of the Clio: - 1 eBox ? - 1 Vanet Router ? 1 fog detection system (LCPC-ESE) 1 gateway to a weather station ? 1 output connection to a VMS ? Other RSUs ? SP2 data fusion modules ? Data acquisition (Mizar) Object refinement: Object Matcher and Map Matcher (TUM) Situation refinement: Traffic Data Calculator (ECAID? TIC?) LDM and API (Navteq) Interface to Router PC (CRF) SP3 LDM (3m & 1 dm) ? SP5 applications: - H&I W ? - SA - SMAEV ? - Road Departure Prevention ?

11. Road owner Type of road (location n°) HW componentsSW components ValladolidTechnology park (4) none COFIROUTEMotorway A85 Vivy-Saumur (5) with LIVIC vehicles and one Cofiroute maintenance vehicle 1 mobile RSU in COFIROUTE maintenance vehicle: - 1 eBox ? - 1 Vanet router ? 2 static RSUs connected by wire as sensors ? No gateway No sensors SP2 data fusion modules ? SP3 LDM (1 m – lane level) ? SP5 applications: - H&I W - SPA - SMAEV CG22Rural road Bourbriac (SARI site) (6) 1 mobile RSU in one of the LIVIC Clio or in CG22 vehicle No gateway No sensors (1 accurate positioning system on-board of the other Clio) SP2 data fusion modules ? SP3 LDM (10 cm) ? SP5 application: - Lane departure prevention RSU components (3)

12. Difficulties and criticalities Delivering, implementation and tuning of the H/W and S/W components ? EPOSYTOR: 1 additional PC in every OBU ? Planning is extremely difficult due to the high number of intervening partners, the coupling between them and their weak reactivity (everybody is extremely busy…) From WEST point of view: –Connexion with SP1 is weak –Connexion with SP2 is good (clear expectations from Angela have been expressed to WEST) –Connexion with SP3 is quite weak also, except with Navteq –Connexion with SP4 is OK –Connexion with SP5 is good (Fabien) –Connexion with SP7 is good (Abdel Khader) Next meeting on the 1st of July in Madrid –main objective: to fill in the scenario sheets and especially the planning page

13. Test scenario sheet page 2

14. Netherlands Test Site Partners: TNO, Peek, PNB, RWS Locations (shared with CVIS) 1. Motorway A16 Rotterdam-Antwerp 2. Rural road N629 3. Urban intersection Helmond 1 2 3

15. Five Infrastructure based applications Applications IRIS_01 basic application V2I(Peek) IRIS_02 support for emergency vehicles V2I(Peek) SPA_01 critical speed warning static/legal V2I(PNB) H&IW_01 static obstacles V2IV2I(RWS) H&IW_03 abnormal road conditions V2IV2I(RWS) Lane change manoeuvre V2V(TNO)

16. Hardware vehicles Hardware road side CVIS eBOX

17. Netherlands A16 Motorway: Gateway to TMC for data on: fog, slippery road and obstacles. Check details. H&IW01 and H&IW03 (static obstacle and abnormal road conditions). V2I communication. RWS or TNO ? Rural road: Interface to TCC for dynamic maximim speed. Speed Alert application Urban intersection: Laserscanner + UTC data. TNO vehicles to be used All plan to use CVIS e-BOX and CVIS router Navteq maps to be adopted. LINUX.

18. Planning

19. Swedish Test Site Frontal collision warnings V2V, V2I Road Condition Status (1) V2V Road Condition Status (2) V2I Vulnerable Road user detection V2V Speed Limitation and Safety Distance V2V, V2I 3030

20. Gothenburg Sweden -1 Lindholmen Science Park (2 RSU) -2 Road tunnels (2 RSU, one at each entrance) Lundby Tunnel -3 Closed Test Tracks ( 1 RSU, mobile) -Storaholm -4 Road/Highway (1 or 2 RSU) -E6 Highway -RV45 - 5 ITS World 2009 (1 RSU, mobile) Test Site Location is the same as CVIS

21. RSU Locations and systems at SWTS 5 5 5 6 RSU 2 & 6 is same mobile RSU

22. RSU 1 at Lindholmen 5 5 5 6 RSU 2 & 6 is same mobile RSU RSU 1 Placement of VTT camera Cabinet for computer systems & antennas

23. INTERFACING WITH INFRASTRUCTURE Management Centre Lindholmen Science Park Ethernet / UDP Router VANET LAN / SWITCHING RSU:s RSU MAIN PC (Linux) Data Fusion LDM Applications MSG Manager RSU 1 & 2 – WLAN RSU 3 & 4 – 3G SRA systems Cameras Airstatus Signaling VMS AID Loops 50 Test site dependent Gateway Queue detection Speed alert variable VMS Weather databases for road condition Obstacle detection Accidents & road works Traffic mgn Server (Win) 003 Control clients (Win) Application Server (Win) Internet

24. SafeSpot Road condition Camera (VTT( INTERFACING WITH SWTS RSU 1 NIR camera Firewire RSU MAIN PC TRAFFIC CONTROL CENTRE Router VANET Data Fusion (LDM) Applications MSG Manager Pre-processing PC Test site dependent Gateway USB VTT is responsible for integration and installation. Equipment is borrowed from VTT LSP will supply with power and ethernet connection Volvo & Lindholmen Science Park/SRA is responsible Ethernet / UDP LAN / SWITCHING

25. Kapsch Licence Plate/Ghost driver Camera INTERFACING WITH SWTS RSU 3 Ethernet / UDP RSU MAIN PC TRAFFIC CONTROL CENTRE Router VANET Data Fusion (LDM) Applications MSG Manager Test site dependent Gateway LAN / SWITCHING USB Kapsch is responsible for integration and installation. SRA will supply with power and ethernet connection Volvo & SRA is responsible

26. SP2 - Data Fusion Data Receive r LDM Q- / T-API SWTS Applications Q-API NIR Camera for Ice Detection (Sensor and Preprocessing Unit) Object Refinement Central Level Fusion Object Matcher Map Matcher SAFESPOT SWTS RSU System VTT TUM TUM/MIZAR Message Router (VANET) Infrastructure Gateway SRA Volvo Navteq / TeleAtlas & Bosch MM* - SP4 message manager Message Generator / MM*

27. TS RSU HW Architecture phase 1 VANET Router Ethernet Switch - Gateway Router PC Main PC & LDM/ CVIS HOST PC

28. Issues: When can we acquire the SW components? (SP2) What HW is tested, verified and recommended to use for Vanet? (Sp3) Q-free cards: 1 September? (SP1) Cooperation with CVIS: Will Vanet and CALM M5 be compatible? Will they interfere each other? Can same HW be used (Q-Free 802.11p)?

29. Lindholmen

30. Lundby Tunnel 1 (West)

31. Lundby Tunnel 2 (East)

32. Storaholm Test Track Link to Google Maps

33. Link to Google Maps RSU 1 E6 Highway (2 RSU) Link to Google MapsLink to Google Maps RSU 2

34. VTEC Simulator

35. Sweden – SP2 implications Vehicles (Volvo) with SP4 Applications Road condition status using VTT camera Many legacy systems, including queue detection in tunnel, VMS, etc, also CVIS (ghost driver) Frontal collision warnings have V2I element Need Gateway for data from roadside systems and must know the data parameters involved! VTEC simulator for motorway section.