1. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 1 Local dynamic maps in cooperative systems IP - “Smart Vehicles on Smart Roads” Christine Bartels Tele Atlas (Germany), christine.bartels@teleatlas.com SINTECH Task Leader “Local Dynamic Maps” SAFESPOTSAFESPOT

2. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 2 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?

3. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 3 SINTECH Local Dynamic Maps – Map Layers map from provider landmarks for referencing tree id pos curbs … tree id pos curbs … temporary regional info ! accident id pos … accident id pos … fog id pos a,b … fog id pos a,b … congestion id pos length dir … congestion id pos length dir … com nodes, fusion result ego pos vel … ego pos vel … rsu id pos type … rsu id pos type … veh id pos vel type … veh id pos vel type …

4. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 4 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 Network LDM: Local Dynamic Map Q-API: Query API T-API: Transaction API SP4/5 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

5. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 5 SINTECH Local Dynamic Map interfaces to sensing systems Local Dynamic Map APIs towards 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 and generation is done by brokers. There is a specific component for data that shall be distributed. SP3 SP1/2 SP1-5,7

6. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 6 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!

7. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 7 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 API Sqlite – database (or other dbs: oracle, jdb) API Spatial queries on the static map map matched reference to the static map Q-API T-API 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

8. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 8 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?

9. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 9 a2 a3 a4a5 h1 h2 h3 e3 e2 b3 b4 b5 b2 f1 i1 i2i3 2 5 d1 d2 d3 d4 7 8 9 Interference points b1 e1 4 6 Bicycle path 10 1 3 a1 i4 SINTECH Local Dynamic Map – Static map extensions

10. SAFESPOT – Local Dynamic Maps for Cooperative Systems April, 12th 2007, CRF – SP2 Infrasens meeting 10 INFRASENS – Additional sensor in SAFESPOT