SP1 SAFEPROBE Scope. Application subprojects vehicle based SP4 SCOCA infrastructure based SP5 COSSIB. application coordination. SP3 SINTECH Innovative Technologies ad-hoc network communication relative positioning local dynamic map. SafeSpot external application client, e.g. CVIS. - PowerPoint PPT Presentation
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Host-vehicle CAN bus (LDM) Further Powertrain, Body, Safety Systems Data
from D1.3.1 Data Fusion Specification, vers. 0.9, 01/08/2007
8CG meeting2007-09-10, BOSCH
SP1 Test Vehicle Equipment
from D1.3.1 Data Fusion Specification, vers. 0.9, 01/08/2007
Volvo trucks
Renault MODUS
Renault LAGUNA
Renault ESPACE
Fiat BRAVO
Piaggio MP3
DescriptionFH12
Long-haul tractor
mini MPVestate vehicle
large MPV MP3 250ie
Sensors
ACC radar
IBEO, front right corner of the cab,
front camera
Lane tracker optional
- -
A single laser sensor will be available, located in the centre of the front bumper
Long Range Radar (76-77 GHz), installed behind the bumper
IBEO, in front of bumper
camera, if needed for the SP3 positioning module
tilt sensor
9CG meeting2007-09-10, BOSCH
SP1 HW Architecture
10CG meeting2007-09-10, BOSCH
HW Architecture (truck/car configuration)
VANET Router
OEM Gateway
Positioning system
Main PC
Applications PC
Ethernet Switch
In-vehicle sensor data
ESPOSYTORLaserscanner system
In-vehiclepowertrain/body data
HMI
GPS-PPS
11CG meeting2007-09-10, BOSCH
HW Architecture (PTW configuration 1)
VANET Router
OEM Gateway
Main PC
Ethernet Switch
Powertrain/body networks
GPS PPS
12CG meeting2007-09-10, BOSCH
HW Architecture (PTW configuration 2)
OEM Gateway
Main & VANET Router PC
Powertrain/body networks
GPS PPS
13CG meeting2007-09-10, BOSCH
Main PC SW Processes
• processes controlled by operating system• communication (IPC) by database SW
db instance
DBMS Data Fusion
shared memory
Client
network socket network socket network socket
Application clients
OEM GW, VANET router, Positioning PC, Laserscanner PC
DB, GPS card driver
Otional client process
Operating system
DF processLDM process
Co-ordi-nator
14CG meeting2007-09-10, BOSCH
LDM – Client Communication
DB instance
DBMS
DB driver
Server
Client program
network socket
network socket
Op-System B
Client
DB driver
Network, usually TCP/IP
Op-System A
• Protocol defined by database SW• Network transparent for users• No development required• Client typically on remote PC
15CG meeting2007-09-10, BOSCH
SP1 Functional Architecture
16CG meeting2007-09-10, BOSCH
Data Fusion Process Timing
• IO bound tasks run short, but frequent, often need to get CPU immediately• Processor bound tasks run longer, but less frequent• Proc bound tasks need to be pre-empted to limit latencies
for non-fusion data
DAQ
Obj Ref
Sit Ref
Info provide
new OR cycle
new batch of OR results in SM
new SR results in SM
new ego data new VANET data new radar data
IO bound
IO bound
Proc bound
Proc bound
17CG meeting2007-09-10, BOSCH
Main PC Data Fusion Process
class SP1_MainPC
coordinator
scheduler
threadList
sharedMemoryframework implemented and compiled into exe and DLLs by Bosch
thread
+ prio: + state:
+ stop()+ wait()+ run()
threadMethods
+ run()
code pieces (e.g. methods) implementedand compiled into DLLs by partners