SP2 Plenary Meeting – Data Fusion 03 - 04 March 2008, Munich 1 Infrastructure Side Data Fusion Tobias Schendzielorz (TUM) Paul Mathias (Siemens) SAFESPOTSAFESPOT.

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Presentation transcript:

SP2 Plenary Meeting – Data Fusion March 2008, Munich 1 Infrastructure Side Data Fusion Tobias Schendzielorz (TUM) Paul Mathias (Siemens) SAFESPOTSAFESPOT

SP2 Plenary Meeting – Data Fusion March 2008, Munich 2 Munich University of Technology Chair of Traffic Engineering and Control Univ.-Prof. Dr.-Ing. Fritz Busch Lecturing and Research in Public and Private Transport Lecturing and Research in Public and Private Transport Munich University of Technology Chair of Traffic Engineering and Control Arcisstr. 21 D München

SP2 Plenary Meeting – Data Fusion March 2008, Munich 3

SP2 Plenary Meeting – Data Fusion March 2008, Munich 4 Munich University of Technology Faculty of Civil Engineering and Geodesy Institute of Transportation Chairmen: Univ.-Prof. Dr.-Ing. F. Busch Univ.-Prof. Dr.-Ing. G. Leykauf Institute of Transportation Chairmen: Univ.-Prof. Dr.-Ing. F. Busch Univ.-Prof. Dr.-Ing. G. Leykauf Chair of Traffic Engineering and Control Department of Urban Planning and Development Institute of Road, Railway and Airfield Construction Organization Chart

SP2 Plenary Meeting – Data Fusion March 2008, Munich 5 TUM-VT – Staff

SP2 Plenary Meeting – Data Fusion March 2008, Munich 6 Dinner on Monday Evening

SP2 Plenary Meeting – Data Fusion March 2008, Munich 7 Meeting Agenda Monday Monday, 03 rd March 2008 TimeTopicPresenter 10:30Welcome CoffeeTobias - TUM 10.45Update on latest IP issuesAngela - MIZAR Presentation of current status :  Outcome of Task Force Meeting  Explanation on Data Format & Messages doc Angela - MIZAR 11:45 Presentations of sensor and fusion partners and discussion (max 10min each) concerned partners 13:00Lunch 14:00LDM Issues (LDM Versions / API)LDM Group Member PARALLEL WORK GROUPS 14:30Group 1: Sensing systemsconcerned partners Group 2: Data fusion and Map providersconcerned partners 17:00Wrap up of the outcome of the WORK GROUPS 17:30Closure for day 19.30Dinner together in MunichOrganised by TUM

SP2 Plenary Meeting – Data Fusion March 2008, Munich 8 Meeting Agenda Tuesday Tuesday, 04 th March 2008 TimeTopicPresenter 9:00Wrap up of the yesterdays sessionTobias - TUM 9:15 Continue Discussion on Infrastructure Platform: Software Framework / Physical Architecture / Test Site Issues ALL 11.00Demonstrations for next Annual ReviewAngela - MIZAR 12.00Planning of next deliverableAngela - MIZAR 13:00Lunch 14.00Launch of WP5 activities (Evaluation and Testing)LCPC 15:00New action list and wrap the meetingAngela - MIZAR 15:30Meeting closed

SP2 Plenary Meeting – Data Fusion March 2008, Munich 9 SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit) Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit) NIR Camera for Ice Detection (Sensor and Preprocessing Unit) RFID for Ghost Driver Detection (Preprocessing Unit) Wireless Sensor Network (Preprocessing Unit) Gatetway to Traffic Light Controller Message Router (VANET) Laserscanner (Infrastructure Sensor) Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific CCTV for Visibility (Preprocessing unit) SP2 RSU System: Functional Architecture

SP2 Plenary Meeting – Data Fusion March 2008, Munich 10 SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit) Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit) NIR Camera for Ice Detection (Sensor and Preprocessing Unit) RFID for Ghost Driver Detection (Preprocessing Unit) Wireless Sensor Network (Preprocessing Unit) Gatetway to Traffic Light Controller Message Router (VANET) Laserscanner (Infrastructure Sensor) Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific CCTV for Visibility (Preprocessing unit) SIE PTV CIDAUT VTT BME IBEO Test Sites??? MIZAR LCPC SP5 PTV VTT TUM CSST SODIT TUM LCPC PTV TUM TUM/MIZAR under discussion SP2 RSU System: Functional Architecture

SP2 Plenary Meeting – Data Fusion March 2008, Munich SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit)‏ Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit)‏ NIR Camera for Ice Detection (Sensor and Preprocessing Unit)‏ RFID for Ghost Driver Detection (Preprocessing Unit)‏ Wireless Sensor Network (Preprocessing Unit)‏ Gatetway to Traffic Light Controller Message Router (VANET)‏ Laserscanner (Infrastructure Sensor)‏ Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System - Motorway CCTV for Visibility (Preprocessing unit)‏

SP2 Plenary Meeting – Data Fusion March 2008, Munich SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit)‏ Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit)‏ NIR Camera for Ice Detection (Sensor and Preprocessing Unit)‏ RFID for Ghost Driver Detection (Preprocessing Unit)‏ Wireless Sensor Network (Preprocessing Unit)‏ Gatetway to Traffic Light Controller Message Router (VANET)‏ Laserscanner (Infrastructure Sensor)‏ Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System - Urban CCTV for Visibility (Preprocessing unit)‏

SP2 Plenary Meeting – Data Fusion March 2008, Munich SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit)‏ Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit)‏ NIR Camera for Ice Detection (Sensor and Preprocessing Unit)‏ RFID for Ghost Driver Detection (Preprocessing Unit)‏ Wireless Sensor Network (Preprocessing Unit)‏ Gatetway to Traffic Light Controller Message Router (VANET)‏ Laserscanner (Infrastructure Sensor)‏ Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System – Inter-Urban / Rural System CCTV for Visibility (Preprocessing unit)‏

SP2 Plenary Meeting – Data Fusion March 2008, Munich SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit) Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit) NIR Camera for Ice Detection (Sensor and Preprocessing Unit) RFID for Ghost Driver Detection (Preprocessing Unit) Wireless Sensor Network (Preprocessing Unit) Gatetway to Traffic Light Controller Message Router (VANET) Laserscanner (Infrastructure Sensor) Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System – Core System CCTV for Visibility (Preprocessing unit)

SP2 Plenary Meeting – Data Fusion March 2008, Munich 15 SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit) Gateway to Motorway management system Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit) NIR Camera for Ice Detection (Sensor and Preprocessing Unit) RFID for Ghost Driver Detection (Preprocessing Unit) Wireless Sensor Network (Preprocessing Unit) Gatetway to Traffic Light Controller Message Router (VANET) Laserscanner (Infrastructure Sensor) Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System - Motorway A16 (NL) CCTV for Visibility (Preprocessing unit) under discussion Detected fog + location Detected slippery conditions + location Detected road obstruction + location

SP2 Plenary Meeting – Data Fusion March 2008, Munich 16 SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit) Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit) NIR Camera for Ice Detection (Sensor and Preprocessing Unit) RFID for Ghost Driver Detection (Preprocessing Unit) Wireless Sensor Network (Preprocessing Unit) Gatetway to Traffic Light Controller Message Router (VANET) Laserscanner (Infrastructure Sensor) Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System - Rural Road N629 (NL) CCTV for Visibility (Preprocessing unit) under discussion Dynamic speed advice + location

SP2 Plenary Meeting – Data Fusion March 2008, Munich 17 SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit) Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit) NIR Camera for Ice Detection (Sensor and Preprocessing Unit) RFID for Ghost Driver Detection (Preprocessing Unit) Wireless Sensor Network (Preprocessing Unit) Gatetway to Traffic Light Controller Message Router (VANET) Laserscanner (Infrastructure Sensor) Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific SAFESPOT RSU System - Urban Helmond CCTV for Visibility (Preprocessing unit) under discussion

SP2 Plenary Meeting – Data Fusion March 2008, Munich SP2 - Data Fusion Data Receiver LDM Q- / T-API SP5 Application Message Generator VANET Messages Q- / T-APIQ-API CCTV for Positioning (Preprocessing Unit)‏ Gateway to Safety Centre Gateway to Traffic Control Centre Thermal Camera f. Living Objects (Preprocessing Unit)‏ NIR Camera for Ice Detection (Sensor and Preprocessing Unit)‏ RFID for Ghost Driver Detection (Preprocessing Unit)‏ Wireless Sensor Network (Preprocessing Unit)‏ Gatetway to Traffic Light Controller Message Router (VANET)‏ Laserscanner (Infrastructure Sensor)‏ Manoeuvre Estimator Traffic Information Consolidator Traffic Data Calculator ECAID Situation Refinement Environmental Event Recognition Environmental Consolidator Dynamic Black Spot Recognition Object Refinement Sensor Level Fusion Central Level Fusion Object Matcher Map Matcher Cooperative Pre-Data Fusion IBEO Specific CCTV for Visibility (Preprocessing unit)‏ Data Items in “SF_SP7_Data_format&messages.doc”: 1.LaserSensorObjectsUDP 2.MSGVehicleBeaconUDP 3.StatusTrafficLight&PedestrianDetector, AggregatedDetectorData SOAP 4.CameraMovingObjectDetectionUDP 5.CameraLivingObjectDetectionUDP 6.CameraIceDetectionUDP 7.RFIDGhostDriverDetection (std.)UDP 8.WirelessSensorNetworkObjects (std.) UDP 9.SafetyCenterInformation (std.) UDP 10.TrafficControlCenterMotorway (std.) UDP 11.CameraMeteoConditionDetection (std.)UDP 12.InfAppCoordinatorToDataFusionUDP 13.RSU internal (not in SF_SP7_Data_format&messages.doc) SIE PTV CIDAUT VTT BME IBEO Test Sites??? MIZAR LCPC SP5 PTV VTT TUM CSST SODIT TUM LCPC PTV TUM TUM/MIZAR

SP2 Plenary Meeting – Data Fusion March 2008, Munich SAFESPOT RSU System (Interface Defintions)‏

SP2 Plenary Meeting – Data Fusion March 2008, Munich Process Timing: Data Fusion / Object Refinement ms500 ms250 ms750 ms0 ms500 ms250 ms sensor 1 (1 Hz)‏ sensor 2 (2 Hz)‏ sensor 3 (6 Hz)‏ sensor 4 (event)‏ VANET (event)‏ The OR-ME-block is performed twice a second. The sensors 1-4 above are assumed to be trajectory related and provide absolute positions of objects: e.g. cameras, laser scanner, etc. The timing of the transmission of the sensors results should be like this that periodic events lays as close as possible to the left border of OR, i.e. in one or both of the intervals [0,250] and [500,750]. The VANET events can hardly be influenced concerning the timing of transmission. They are all used no matter when they arrive to perform the OR. Worst case for the age of a data item at the moment of processing is 500 ms. Situation refinement or application, that uses in some way positions of objects and/or trajectories, should start either closely after 0 msec or closely after 500 msec. LDM OR ME LDM OR ME LDM OR ME LDM OR = Object Refinement, ME = Manoeuvre Estimator Any Situation Refinement Any Application described in next slide

SP2 Plenary Meeting – Data Fusion March 2008, Munich RR R t1t1 t 1 +b t1t1 t 1 -a Data Fusion: OR Logical Description Source 1 Input at t 1 -a Source 3 Input at t 1 +b Source 2 Input at t 1 Time Alignment & Tracking Object MatchingData ReceiptMap MatchingWriting LDM offset time : a offset time :b logical reference time :t 1 t1t1 The alignment computes / calculates the position of an object (could be any other state / attribute of the object as well) to one specific point in time. In the example above are 3 input sources which provide data on the absolute position of objects (WGS 84). These data is sensed at different points in time (t 1 -a; t 1 ; t 1 +b). Note: The result can be transmitted at the same point in time (technical point in time vs. logical point in time). The alignment “shifts” (either forward or backward) all positions to the same point in time t 1. (See column 2 in the picture). This point in time should be the value of the time stamp the object position has in the LDM as well. In order to do this “shifting” the alignment function has to know more about the states of the object (e.g. speed, acceleration, position at the point in time before t 1 ). I.e. a tracking of the objects is necessary for doing this. And therefore a internal OR memory stack. After the alignment the matching of the position of objects provided by the different sources (column 3) is done. A requirement for this is that all components have synchronized computer clocks. (NTP Server?!?)

SP2 Plenary Meeting – Data Fusion March 2008, Munich 22 Data Sources - TODO 1.define UDP data structures, 2.define static description of the sensor (LDM), 3.generate sample data + develop mockup, 4.consideration of NTP (ethernet connection), 5.data transmission synchronisation for trajectory related data ([0,250] and [500,750]), 6.ensure incorporation of accuracy values for the raw data, 7.ensure UDP binary transmission, 8.ensure that UDP time stamp must be the time point of the event (!!) 9.similar data might use the same data structure (classification)