1SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

Integrated ProjectIntegrated Project

Co-operative Systems for Road Safety Co-operative Systems for Road Safety

““Smart Vehicles on Smart Roads”Smart Vehicles on Smart Roads”

Fabio Tango

Centro Ricerche FIAT (Italy), fabio.tango@crf.it

SP1 SAFEPROBE

SAFESPOTSAFESPOTSAFESPOTSAFESPOT

2SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1

SAFEPROBE

In-Vehicle Sensing and Platform

WP1.3 Specification

Task 1.3.1 Internal Data Fusion Specification

3SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

WORK PLANWork-packageNo

Workpackage title Leader Person-months

Startmonth

Endmonth

WP1.3 Specification BOSCH 65.5 M 7 M 18

Task 1.3.1 Internal Data Fusion Specification

CRF M7 M12

Task 1.3.4 Data refinement Specification

CRF M12 M18

Partners CRF REGIENOV

VOLVO BOSCH PIAGGIO IBEO

SVDO ICCS MMSE

Task 1.3.1 x x x x x x

Task 1.3.4 x x x x

4SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

WP DELIVERABLES LIST

Deliverables No Deliverable title Nature Due Date

Type Partner responsible

D1.3.1 Data fusion specifications

R M15 RE CRF

D1.3.2 HW and SW platform specifications

R M18 CO BOSCH

D1.3.3 Data fusion public specifications

R M19 PU CRF, BOSCH

D1.3.4 HW and SW platform public specifications

R M19 PU CRF, BOSCH

5SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

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)

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)

6SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

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.

Partner Type of demonstrator Number of vehicle To be used in other SAFESPOT SPs

CRF Car 1 SP4 / SP5

VOLVO Truck 1 SP4

REGIENOV Car (*) 1 SP4 / SP5

PIAGGIO Motorcycle 2 SP4

SAFESPOT – SP1 demonstrator vehicles

7SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

Sensor CRF Car VOLVO Truck PIAGGIO Motorcycles

REGIENOV Car

Laser scanner x x x

Radar x x x x

Camera x x x

GPS system x x x x

Relative positioning communication based

x x x x

Navigation map x x x x

All the vehicles are supposed to be equipped with the SAFEPROBE processing unit.

SAFESPOT – draft of possible on-board sensors

8SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

DATA FUSION – MAIN FEATURES

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 VSP inside PROFUSION 2 data-fusion architecture.

5. The following slide report the working proposal to be shared by all the involved partners.

9SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

SP1 - WP1.3 Specification

LRR/LID

On-board sensors

GPS

Camera

SRR

V2V

V2I

External DF with Refinement

Internal DF with on-board Information

MapsR

oad

Dat

a

Veh

icle

Dat

aIm

ages

Po

siti

on

Signal Level

Sig

nal

sS

ign

als

El-horizon Provider

SRR Processing

Ego-veh Positioning

Lane Detection

LRR/LID Processing

El-

ho

rA

ccu

rate

Po

sL

ane

Track Level

trac

kstr

acks

Feature Level

RoadGeometryFusion

Ego-stateEstimation

TrackLevelFusion

TrackLevelFusion

Ro

ad G

eom

etry

Eg

o-v

eh P

os.

Ob

stac

les

En

viro

nm

ent

Rec

on

stru

ctio

n

Fusion LevelObject Level Environmental

Level

10SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

Possible architectural scheme for Data Fusion algorithm

Fusion of data coming from GPS, COM system, NAV and ADAS system

ImageProcessing

Navigation Map

Sensor Box

Laser

Vehicle Position

GPS

Functions / Applications

HMI

SP4SP1

DGPS

Camera

Communication ad-hoc network processing

Antenna

Long Radar

ShortRadar

SP1-Platform

LDM

???DF

11SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

OPEN ISSUES (1/2): • Input from SP4:

– Requirements based on scenarios and application definition

– Working table for SP4 User Needs & Requirements (presently, in definition phase)

– First Draft D4.2.4 – User Needs and Requirements (foreseen by 26/10)

• Output to SP4:

– Data fusion specification

– Definition of a common architecture

– Definition of the common protocol interface between SP1 and SP4

• Definition of the main partner’s role for each module of architecture• Constraints and specific / particular issues to be taken into account for each block• Definition of number of components to be provided or bought

12SF-SP1 Plenary MeetingSeptember 28-29/09/2006 Numeaton - MIRA

SAFESPOT – SP1 – WP 1.3

OPEN ISSUES (2/2):

• Some specific points are:

– Is D-Space ECU able to manage the LAN?

– Is SP3 able to provide the blocks in blue? • Definition of the interface for the data flow and data exchange in terms of

Data format

Availability

Accuracy

Resolution

Latency

Update rate