1. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 1 Integrated Project Co-operative Systems for Road Safety “Smart Vehicles on Smart Roads” Fabio Tango; Elena Bianco Centro Ricerche FIAT (Italy), fabio.tango@crf.itfabio.tango@crf.it; elena.bianco@crf.itelena.bianco@crf.it SP1 SAFEPROBE SAFESPOTSAFESPOT

2. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 2 SAFESPOT – SP1 SAFEPROBE In-Vehicle Sensing and Platform WP1.3 Specification Task 1.3.1 Internal Data Fusion Specification

3. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 3 SAFESPOT – SP1 – WP 1.3 Main Activities: 1. Development of data fusion algorithms at different levels depending on: a. specific goal to reach; b. 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)http://www.prevent-ip.org Specification of the internal data fusion will be adapted from the recommendation of the sub-project ProFusion II. Final result D1.3.1 Data fusion specification (M15) But Technical Annex to be modified!

4. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 4 SAFESPOT – SP1 – WP 1.3 DATA FUSION – GENERAL FEATURES (1/2) -At the moment, it has been divided in some sub-modules. -Object refinement -Situation refinemt -TBD details -For Object Refinement two main aspects: -Internal Data-Fusion (DF) -Cooperative DF

5. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 5 SAFESPOT – SP1 – WP 1.3 OBJECT REFINEMENT – MAIN FEATURES (1/2) 1.Principal aim is to reconstruct the traffic scenario around the vehicle thanks to the data collected from homogeneous sensors. 2.Depending on the number of on-board sensors, the reconstruction will be more or less precise. 3.The data fusion algorithms have to be flexible and modular enough to be used in different kinds of vehicle using different equipment. 4.The data fusion algorithms have to based on the architecture defined by PROFUSION 2 data-fusion architecture.

6. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 6 SAFESPOT – SP1 – WP 1.3 OBJECT REFINEMENT – MAIN FEATURES (2/2) 1.Cooperative DF has to include objects data coming from the VANET (that is, the communication) 2.More details on that are stillTBD 3.A working proposal is needed, to be shared by all the involved partners. 4.In the following, some draft architectural schemes are proposed: -From PROFUSION2, with adaptation to our case (COM issues) -Architecture of DF inside SP7 framework -Component diagram of DF

7. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 7 SAFESPOT – SP1 – WP 1.3 SP1 - WP1.3 Specification LRR/LID On-board sensors GPSCameraSRR V2V V2I External DF with Refinement Internal DF with on-board Information Maps Road Data Vehicle Data Images Position Signal Level Signals El-horizon Provider SRR Processing Ego-veh Positioning Lane Detection LRR/LID Processing El-hor Accurate Pos Lane Track Level tracks Feature Level Road Geometry Fusion Ego-state Estimation Track Level Fusion Track Level Fusion Road Geometry Ego-veh Pos. Obstacles Environment Reconstruction Fusion Level Object Level Environmental Level

8. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 8 SAFESPOT – SP1 – WP 1.3

9. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 9 SAFESPOT – SP1 – WP 1.3 SOME COMMENTS (1/2) -Sensors (1,2, …, N) = several types of sensors can be present, which send data to the DF module -Static Map and GPS = they are used for enhanced localisation of ego-vehicle -DF Manger = it is a module, supposed to manage the different time at which information comes (from several sources), the different reference systems of data and so on -Object Refinement = as stated before, it is composed by Internal DF and Cooperative DF, whose details are to be defined -Situation Refinement =similar issues of previous point (see ICCS’ presentation) -The DF module is included in the SP7-SF proposed architecture -Data from vehicle are received by specific vehicle gateway -DF outputs are sent to and received by LDM-DB only by means of the module “Transaction Call Generation”

10. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 10 SAFESPOT – SP1 – WP 1.3 SOME COMMENTS (2/2) -Main outputs are: Data format Availability Accuracy / Uncertainty Resolution Latency Update rate Object ID Source Vehicle positioning and enhanced vehicle positioning Object type (distance, angular position, speed, …) Environment type (event, context, etc.) [from SA module]

11. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 11 SAFESPOT – SP1 – WP 1.3

12. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 12 SAFESPOT – SP1 – WP 1.3 (*) 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. PartnerType of demonstratorNumber of vehicle To be used in other SAFESPOT SPs CRFCar1SP4 / SP5 VOLVOTruck1SP4 REGIENOVCar (*)1SP4 / SP5 PIAGGIOMotorcycle2SP4 SAFESPOT – SP1 demonstrator vehicles

13. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 13 SAFESPOT – SP1 – WP 1.3 SensorCRF CarVOLVO Truck PIAGGIO Motorcycles REGIENOV Car Laser scannerxxx Radarxxxx Cameraxxx GPS systemxxxx Relative positioning communication based xxxx Navigation mapxxxx All the vehicles are supposed to be equipped with the SAFEPROBE processing unit. SAFESPOT – draft of possible on-board sensors

14. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 14 SAFESPOT – SP1 – WP 1.3 CANCAN CANCAN VANET S1 S2. Sn Data-fusion Applications LDM CAN Gateway

15. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 15 SAFESPOT – SP1 – WP 1.3 WP DELIVERABLES LIST Deliverables No Deliverable titleNature Due Date Type Partner responsible D1.3.1Data fusion specifications R M15 RECRF D1.3.2 HW and SW platform specifications R M18 COBOSCH D1.3.3Data fusion public specifications R M19 PUCRF, BOSCH D1.3.4HW and SW platform public specifications RM19PUCRF, BOSCH

16. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 16 SAFESPOT – SP1 – WP 1.3 Work-package No Workpackage titleLeader Person- months Start month End month WP1.3SpecificationBOSCH65.5M 7M 18 Task 1.3.1 Internal Data Fusion Specification CRFM7M12 Task 1.3.4Data refinement Specification CRFM12M18 PartnersCRFREGIENOVVOLVOBOSCHPIAGGIOIBEOSVDOICCSMMSE Task 1.3.1 xxxxxx Task 1.3.4xxxx WORK PLAN See file: SF_SP1_DF_QuestionnaireResults.xlsSF_SP1_DF_QuestionnaireResults.xls

17. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 17 SAFESPOT – SP1 – WP 1.3 OPEN ISSUES (1/2): DF TOPICS Which are the correct outputs (OUTs) coming form the DF module? Are they put all in the LDM? Which are the sub-modules inside the packages “Situation Refinement” and “Ego-positioning”? Is it OK the definition and names inside “Object Refinement”? Who is responsible for what (= which modules)? SYSTEM ARCHITECTURE TOPICS Is there a direct link between DF and the applications? Every communication passes through VANET? Which applications (if any) should have (or need) a priority?

18. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 18 SAFESPOT – SP1 – WP 1.3 OPEN ISSUES (2/2): INTERACTIONS WITH OTHER SPs What do they need exactly? All requirements of SP4 are fulfilled? How is the interaction with SP3? (About LDM in particular...)

19. SF-SP1 Plenary Meeting March 01-02/03/2007 Pontedera - PIAGGIO 19 SAFESPOT – SP1 – WP 1.3 Questions and Discussion