1SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

Local dynamic maps in cooperative systemsLocal dynamic maps in cooperative systems

IP - “Smart Vehicles on Smart Roads”IP - “Smart Vehicles on Smart Roads”

Christine Bartels

Tele Atlas (Germany), christine.bartels@teleatlas.com

SINTECH Task Leader “Local Dynamic Maps”

SAFESPOTSAFESPOTSAFESPOTSAFESPOT

2SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Maps - Scenarios

A real time updatable Local Dynamic Map is defined as• Integration of standard digital maps with dynamic (short time) and local (short range) layers

of information collected by the infrastructure or by the vehicles (road status, obstacle presence, etc.).

Focus on new contents and information that is provided in real-time• need of high efficiency algorithms• definition of an adaptive optimal coverage range• compatibility with standard digital maps

The main target is to provide a representation of vehicle’s and infrastructure surroundings with all static and dynamic safety relevant elements

The local dynamic map model relies on the notion of a perception area (i.e. the coverage area of the ego-vehicle perception) and comprises at least

• surrounding objects, such as vehicles, obstacles and landmarks, e.g. in terms of relative positions, estimated dynamic states and attributes as well as associated confidence measures,

• road segments, e.g. in terms of geometrical parameters and attributes (road state, width etc.)

• traffic information/status for individual road segments or regions of the map• weather or visibility status for individual road segments or regions of the map • Open question: What about trajectories?

3SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Maps – Map Layers

map fromprovider

landmarks for referencing

treeidposcurbs…

treeidposcurbs…

temporaryregional info !

accidentidpos…

accidentidpos…

fogidposa,b…

fogidposa,b…

congestionidposlengthdir…

congestionidposlengthdir…

com nodes,fusion result

egoposvel…

egoposvel…

rsuidpostype…

rsuidpostype…

vehidposveltype…

vehidposveltype…

4SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Map interfaces to SP4/SP5 applications

SP4 / SP5 applications clients:• Interface towards the Local

Dynamic Map to get data – no editing function?

VANET: Vehicular Ad-hoc NetworkLDM: Local Dynamic MapQ-API: Query APIT-API: Transaction APISP4/5

cmp Component Model

Certified Client #1,2,...,M

Applicatioin #N Broker

Application #N (SP4/5)

Certified Client #N+1Broker management

Sensor #N (Radar/Laserscanner) VANET

communication

Data Fusion with Database Surv eillance

#1 #N commap #N+1 #N+x

Transaction Query

Transaction Call Generation

Ego Postioning (v ehicle only)

Object refinement Situation refinement

LDM Database (SP1/2) Serv er

Not Certified Clients #M+1,..., N

Application #1 (SP4/5)

Message Generation & Management

VANET communication

SP3: LDM Margin Generation (v ehicle

only)

Message Broker

Broker

Static Map

Sensor #1 (GPS)

HMI Management (SMA)Application #1 Broker

Nav igation Data

Traffic Control States (infrastructure only)

HMI subsystem (v ehicle only)

Message Stack

Q-API

Q-API

Q-API

T-API

Q-API

LDM data

appl #1dataselection

SP3

Brokers:• cast requests

into queries and subscriptions to notifications

• select/filter data• translate messages,

notifications• remote procedure

calls over platform network

SP1-5,7

5SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Map interfaces to sensing systems

Local Dynamic Map APIstowards the Data Fusion and Database Surveillance:

- T-API (transaction) to edit the Local Dynamic Map

- Q-API (query) to get information

The door is still left open to exchange raw data information between the systems.

The transaction call handling andgeneration is done by brokers.There is a specific component for data that shall be distributed.

cmp Component Model

Certified Client #1,2,...,M

Applicatioin #N Broker

Application #N (SP4/5)

Certified Client #N+1Broker management

Sensor #N (Radar/Laserscanner) VANET

communication

Data Fusion with Database Surv eillance

#1 #N commap #N+1 #N+x

Transaction Query

Transaction Call Generation

Ego Postioning (v ehicle only)

Object refinement Situation refinement

LDM Database (SP1/2) Serv er

Not Certified Clients #M+1,..., N

Application #1 (SP4/5)

Message Generation & Management

VANET communication

SP3: LDM Margin Generation (v ehicle

only)

Message Broker

Broker

Static Map

Sensor #1 (GPS)

HMI Management (SMA)Application #1 Broker

Nav igation Data

Traffic Control States (infrastructure only)

HMI subsystem (v ehicle only)

Message Stack

Q-API

Q-API

Q-API

T-API

Q-API

LDM data

appl #1dataselection

SP3SP1/2 SP1-5,7

6SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Map architecture proposal and role in SAFESPOT

Local Dynamic Map Component:• Separates the applications from the data fusion and object surveillance

functions• Provides a standardized access of real time information towards the

applications and sensing systems depending on their application category:– Application category 0: LDM-DB specific services (LDM margin

provision, transaction handling on the LDM-DB)– Application category 1: Certified SAFESPOT applications that provide

transactions for changes in the LDM-DB on the sensing system side (SP1, SP2) and SP4, SP5 applications that provide information that will be communicated to the sensing systems and possibly put on the communication network

– Application category 2: SAFESPOT applications that have access towards the LDM-DB but don’t provide further data to the sensing systems or the communication network.

• Handles all safety relevant information that shall be shared and needs to be available for more than one cooperative systems safety application

• The Local Dynamic Map is considered as database in SAFESPOT. Further specifications will be handled according to this assumption!

7SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Map – LDM and Broker

Broker query management via

• Query coordination and optimization

• Application configuration file of possible needed data

Static Map database

Additional Static data to support sensing systems

AP

I

Sqlite – database(or other dbs: oracle, jdb)

AP

I

• Spatial queries on the static map

• map matched reference to the static map

Q-A

PI

Q-A

PI

T-A

PI

• ADASIS (horizon)

• Specific data

access functions

• Specific views

• Spatial queries

Broker – Management of queries

Sensing systems (SP1, SP2)

SafeSpot safety warning applications

(SP4, SP5)

&

Message

broker

8SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

SINTECH Local Dynamic Map – Message broker

• The message broker will push all safety relevant data on the communication network according to all over agreed defined rules (SP7)

• The focus is set on safety relevant data that can support other actors (cooperative approach)

• The message broker will not provide all dynamic LDM content!

Generalization level 0 (highest accuracy level)

…

Generalization level 1 (events, generalization level 1 of static map data)

SAFESPOT focus

Broadcast via

C2C

Other possible dynamic content - LDM extension in CVIS?

Other communication channels?

9SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

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SINTECH Local Dynamic Map – Static map extensions

10SAFESPOT – Local Dynamic Maps for Cooperative SystemsApril, 12th 2007, CRF – SP2 Infrasens meeting

INFRASENS – Additional sensor in SAFESPOT